BenchmarkOptions.h

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/* Author: Ryan Luna */
 
#pragma once
 
#include <rclcpp/node.hpp>
#include <string>
#include <map>
#include <vector>
#include <moveit_msgs/msg/workspace_parameters.hpp>
 
namespace moveit_ros_benchmarks
{
class BenchmarkOptions
{
public:
  BenchmarkOptions();
  BenchmarkOptions(const rclcpp::Node::SharedPtr& node);
  virtual ~BenchmarkOptions();
 
  // void setNamespace(const std::string& ros_namespace);
 
  const std::string& getHostName() const;
  int getPort() const;
  const std::string& getSceneName() const;
 
  int getNumRuns() const;
  double getTimeout() const;
  const std::string& getBenchmarkName() const;
  const std::string& getGroupName() const;
  const std::string& getOutputDirectory() const;
  const std::string& getQueryRegex() const;
  const std::string& getStartStateRegex() const;
  const std::string& getGoalConstraintRegex() const;
  const std::string& getPathConstraintRegex() const;
  const std::string& getTrajectoryConstraintRegex() const;
  const std::vector<std::string>& getPredefinedPoses() const;
  const std::string& getPredefinedPosesGroup() const;
  void getGoalOffsets(std::vector<double>& offsets) const;
  const std::map<std::string, std::vector<std::string>>& getPlanningPipelineConfigurations() const;
  void getPlanningPipelineNames(std::vector<std::string>& planning_pipeline_names) const;
 
  /* \brief Get the frame id of the planning workspace */
  const std::string& getWorkspaceFrameID() const;
  /* \brief Get the parameter set of the planning workspace */
  const moveit_msgs::msg::WorkspaceParameters& getWorkspaceParameters() const;
 
protected:
  void readBenchmarkOptions(const rclcpp::Node::SharedPtr& node);
 
  void readWarehouseOptions(const rclcpp::Node::SharedPtr& node);
  void readBenchmarkParameters(const rclcpp::Node::SharedPtr& node);
  void readPlannerConfigs(const rclcpp::Node::SharedPtr& node);
 
  void readWorkspaceParameters(const rclcpp::Node::SharedPtr& node);
  void readGoalOffset(const rclcpp::Node::SharedPtr& node);
 
  std::string hostname_;
  int port_;
  std::string scene_name_;
 
  int runs_;
  double timeout_;
  std::string benchmark_name_;
  std::string group_name_;
  std::string output_directory_;
  std::string query_regex_;
  std::string start_state_regex_;
  std::string goal_constraint_regex_;
  std::string path_constraint_regex_;
  std::string trajectory_constraint_regex_;
  std::vector<std::string> predefined_poses_;
  std::string predefined_poses_group_;
  double goal_offsets[6];
 
  std::map<std::string, std::vector<std::string>> planning_pipelines_;
 
  moveit_msgs::msg::WorkspaceParameters workspace_;
};
}  // namespace moveit_ros_benchmarks