#include <BenchmarkOptions.h>

Public Member Functions
	BenchmarkOptions ()
	Constructor. More...

	BenchmarkOptions (const rclcpp::Node::SharedPtr &node)
	Constructor accepting a custom namespace for parameter lookup. More...

virtual	~BenchmarkOptions ()
	Destructor. More...

const std::string &	getHostName () const
	Set the ROS namespace the node handle should use for parameter lookup. More...

int	getPort () const
	Get the port of the warehouse database host server. More...

const std::string &	getSceneName () const
	Get the reference name of the planning scene stored inside the warehouse database. More...

int	getNumRuns () const
	Get the specified number of benchmark query runs. More...

double	getTimeout () const
	Get the maximum timeout per planning attempt. More...

const std::string &	getBenchmarkName () const
	Get the reference name of the benchmark. More...

const std::string &	getGroupName () const
	Get the name of the planning group to run the benchmark with. More...

const std::string &	getOutputDirectory () const
	Get the target directory for the generated benchmark result data. More...

const std::string &	getQueryRegex () const
	Get the regex expression for matching the names of all queries to run. More...

const std::string &	getStartStateRegex () const
	Get the regex expression for matching the names of all start states to plan from. More...

const std::string &	getGoalConstraintRegex () const
	Get the regex expression for matching the names of all goal constraints to plan to. More...

const std::string &	getPathConstraintRegex () const
	Get the regex expression for matching the names of all path constraints to plan with. More...

const std::string &	getTrajectoryConstraintRegex () const
	Get the regex expression for matching the names of all trajectory constraints to plan with. More...

const std::vector< std::string > &	getPredefinedPoses () const
	Get the names of all predefined poses to consider for planning. More...

const std::string &	getPredefinedPosesGroup () const
	Get the name of the planning group for which the predefined poses are defined. More...

void	getGoalOffsets (std::vector< double > &offsets) const
	Get the constant position/orientation offset to be used for shifting all goal constraints. More...

const std::map< std::string, std::vector< std::string > > &	getPlanningPipelineConfigurations () const
	Get all planning pipeline names mapped to their parameter configuration. More...

void	getPlanningPipelineNames (std::vector< std::string > &planning_pipeline_names) const
	Get all planning pipeline names. More...

const std::string &	getWorkspaceFrameID () const

const moveit_msgs::msg::WorkspaceParameters &	getWorkspaceParameters () const

Protected Member Functions
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)

Protected Attributes
std::string	hostname_
	warehouse parameters More...

int	port_

std::string	scene_name_

int	runs_
	benchmark parameters More...

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_
	planner configurations More...

moveit_msgs::msg::WorkspaceParameters	workspace_

Detailed Description

Definition at line 47 of file BenchmarkOptions.h.

Constructor & Destructor Documentation

◆ BenchmarkOptions() [1/2]

BenchmarkOptions::BenchmarkOptions ( )

Constructor.

Definition at line 43 of file BenchmarkOptions.cpp.

◆ BenchmarkOptions() [2/2]

BenchmarkOptions::BenchmarkOptions ( const rclcpp::Node::SharedPtr & node )

Constructor accepting a custom namespace for parameter lookup.

Definition at line 47 of file BenchmarkOptions.cpp.

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◆ ~BenchmarkOptions()

BenchmarkOptions::~BenchmarkOptions ( )

virtualdefault

Destructor.

Member Function Documentation

◆ getBenchmarkName()

const std::string & BenchmarkOptions::getBenchmarkName ( ) const

Get the reference name of the benchmark.

Definition at line 98 of file BenchmarkOptions.cpp.

◆ getGoalConstraintRegex()

const std::string & BenchmarkOptions::getGoalConstraintRegex ( ) const

Get the regex expression for matching the names of all goal constraints to plan to.

Definition at line 123 of file BenchmarkOptions.cpp.

◆ getGoalOffsets()

void BenchmarkOptions::getGoalOffsets ( std::vector< double > & offsets ) const

Get the constant position/orientation offset to be used for shifting all goal constraints.

Definition at line 148 of file BenchmarkOptions.cpp.

◆ getGroupName()

const std::string & BenchmarkOptions::getGroupName ( ) const

Get the name of the planning group to run the benchmark with.

Definition at line 103 of file BenchmarkOptions.cpp.

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◆ getHostName()

const std::string & BenchmarkOptions::getHostName ( ) const

Set the ROS namespace the node handle should use for parameter lookup.

Get the name of the warehouse database host server

Definition at line 73 of file BenchmarkOptions.cpp.

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◆ getNumRuns()

int BenchmarkOptions::getNumRuns ( ) const

Get the specified number of benchmark query runs.

Definition at line 88 of file BenchmarkOptions.cpp.

◆ getOutputDirectory()

const std::string & BenchmarkOptions::getOutputDirectory ( ) const

Get the target directory for the generated benchmark result data.

Definition at line 108 of file BenchmarkOptions.cpp.

◆ getPathConstraintRegex()

const std::string & BenchmarkOptions::getPathConstraintRegex ( ) const

Get the regex expression for matching the names of all path constraints to plan with.

Definition at line 128 of file BenchmarkOptions.cpp.

◆ getPlanningPipelineConfigurations()

const std::map< std::string, std::vector< std::string > > & BenchmarkOptions::getPlanningPipelineConfigurations ( ) const

Get all planning pipeline names mapped to their parameter configuration.

Definition at line 154 of file BenchmarkOptions.cpp.

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◆ getPlanningPipelineNames()

void BenchmarkOptions::getPlanningPipelineNames ( std::vector< std::string > & planning_pipeline_names ) const

Get all planning pipeline names.

Definition at line 159 of file BenchmarkOptions.cpp.

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◆ getPort()

int BenchmarkOptions::getPort ( ) const

Get the port of the warehouse database host server.

Definition at line 78 of file BenchmarkOptions.cpp.

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◆ getPredefinedPoses()

const std::vector< std::string > & BenchmarkOptions::getPredefinedPoses ( ) const

Get the names of all predefined poses to consider for planning.

Definition at line 138 of file BenchmarkOptions.cpp.

◆ getPredefinedPosesGroup()

const std::string & BenchmarkOptions::getPredefinedPosesGroup ( ) const

Get the name of the planning group for which the predefined poses are defined.

Definition at line 143 of file BenchmarkOptions.cpp.

◆ getQueryRegex()

const std::string & BenchmarkOptions::getQueryRegex ( ) const

Get the regex expression for matching the names of all queries to run.

Definition at line 113 of file BenchmarkOptions.cpp.

◆ getSceneName()

const std::string & BenchmarkOptions::getSceneName ( ) const

Get the reference name of the planning scene stored inside the warehouse database.

Definition at line 83 of file BenchmarkOptions.cpp.

◆ getStartStateRegex()

const std::string & BenchmarkOptions::getStartStateRegex ( ) const

Get the regex expression for matching the names of all start states to plan from.

Definition at line 118 of file BenchmarkOptions.cpp.

◆ getTimeout()

double BenchmarkOptions::getTimeout ( ) const

Get the maximum timeout per planning attempt.

Definition at line 93 of file BenchmarkOptions.cpp.

◆ getTrajectoryConstraintRegex()

const std::string & BenchmarkOptions::getTrajectoryConstraintRegex ( ) const

Get the regex expression for matching the names of all trajectory constraints to plan with.

Definition at line 133 of file BenchmarkOptions.cpp.

◆ getWorkspaceFrameID()

const std::string & BenchmarkOptions::getWorkspaceFrameID ( ) const

Definition at line 166 of file BenchmarkOptions.cpp.

◆ getWorkspaceParameters()

const moveit_msgs::msg::WorkspaceParameters & BenchmarkOptions::getWorkspaceParameters ( ) const

Definition at line 171 of file BenchmarkOptions.cpp.

◆ readBenchmarkOptions()

void BenchmarkOptions::readBenchmarkOptions ( const rclcpp::Node::SharedPtr & node )

protected

Definition at line 59 of file BenchmarkOptions.cpp.

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◆ readBenchmarkParameters()

void BenchmarkOptions::readBenchmarkParameters ( const rclcpp::Node::SharedPtr & node )

protected

Definition at line 189 of file BenchmarkOptions.cpp.

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◆ readGoalOffset()

void moveit_ros_benchmarks::BenchmarkOptions::readGoalOffset ( const rclcpp::Node::SharedPtr & node )

protected

◆ readPlannerConfigs()

void BenchmarkOptions::readPlannerConfigs ( const rclcpp::Node::SharedPtr & node )

protected

Definition at line 263 of file BenchmarkOptions.cpp.

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◆ readWarehouseOptions()

void BenchmarkOptions::readWarehouseOptions ( const rclcpp::Node::SharedPtr & node )

protected

Definition at line 176 of file BenchmarkOptions.cpp.

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◆ readWorkspaceParameters()

void BenchmarkOptions::readWorkspaceParameters ( const rclcpp::Node::SharedPtr & node )

protected

Definition at line 240 of file BenchmarkOptions.cpp.

Member Data Documentation

◆ benchmark_name_

std::string moveit_ros_benchmarks::BenchmarkOptions::benchmark_name_

protected

Definition at line 121 of file BenchmarkOptions.h.

◆ goal_constraint_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::goal_constraint_regex_

protected

Definition at line 126 of file BenchmarkOptions.h.

◆ goal_offsets

double moveit_ros_benchmarks::BenchmarkOptions::goal_offsets[6]

protected

Definition at line 131 of file BenchmarkOptions.h.

◆ group_name_

std::string moveit_ros_benchmarks::BenchmarkOptions::group_name_

protected

Definition at line 122 of file BenchmarkOptions.h.

◆ hostname_

std::string moveit_ros_benchmarks::BenchmarkOptions::hostname_

protected

warehouse parameters

Definition at line 114 of file BenchmarkOptions.h.

◆ output_directory_

std::string moveit_ros_benchmarks::BenchmarkOptions::output_directory_

protected

Definition at line 123 of file BenchmarkOptions.h.

◆ path_constraint_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::path_constraint_regex_

protected

Definition at line 127 of file BenchmarkOptions.h.

◆ planning_pipelines_

std::map<std::string, std::vector<std::string> > moveit_ros_benchmarks::BenchmarkOptions::planning_pipelines_

protected

planner configurations

Definition at line 134 of file BenchmarkOptions.h.

◆ port_

int moveit_ros_benchmarks::BenchmarkOptions::port_

protected

Definition at line 115 of file BenchmarkOptions.h.

◆ predefined_poses_

std::vector<std::string> moveit_ros_benchmarks::BenchmarkOptions::predefined_poses_

protected

Definition at line 129 of file BenchmarkOptions.h.

◆ predefined_poses_group_

std::string moveit_ros_benchmarks::BenchmarkOptions::predefined_poses_group_

protected

Definition at line 130 of file BenchmarkOptions.h.

◆ query_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::query_regex_

protected

Definition at line 124 of file BenchmarkOptions.h.

◆ runs_

int moveit_ros_benchmarks::BenchmarkOptions::runs_

protected

benchmark parameters

Definition at line 119 of file BenchmarkOptions.h.

◆ scene_name_

std::string moveit_ros_benchmarks::BenchmarkOptions::scene_name_

protected

Definition at line 116 of file BenchmarkOptions.h.

◆ start_state_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::start_state_regex_

protected

Definition at line 125 of file BenchmarkOptions.h.

◆ timeout_

double moveit_ros_benchmarks::BenchmarkOptions::timeout_

protected

Definition at line 120 of file BenchmarkOptions.h.

◆ trajectory_constraint_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::trajectory_constraint_regex_

protected

Definition at line 128 of file BenchmarkOptions.h.

◆ workspace_

moveit_msgs::msg::WorkspaceParameters moveit_ros_benchmarks::BenchmarkOptions::workspace_

protected

Definition at line 136 of file BenchmarkOptions.h.

The documentation for this class was generated from the following files:

moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkOptions.h
moveit_ros/benchmarks/src/BenchmarkOptions.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BenchmarkOptions() [1/2]

◆ BenchmarkOptions() [2/2]

◆ ~BenchmarkOptions()

Member Function Documentation

◆ getBenchmarkName()

◆ getGoalConstraintRegex()

◆ getGoalOffsets()

◆ getGroupName()

◆ getHostName()

◆ getNumRuns()

◆ getOutputDirectory()

◆ getPathConstraintRegex()

◆ getPlanningPipelineConfigurations()

◆ getPlanningPipelineNames()

◆ getPort()

◆ getPredefinedPoses()

◆ getPredefinedPosesGroup()

◆ getQueryRegex()

◆ getSceneName()

◆ getStartStateRegex()

◆ getTimeout()

◆ getTrajectoryConstraintRegex()

◆ getWorkspaceFrameID()

◆ getWorkspaceParameters()

◆ readBenchmarkOptions()

◆ readBenchmarkParameters()

◆ readGoalOffset()

◆ readPlannerConfigs()

◆ readWarehouseOptions()

◆ readWorkspaceParameters()

Member Data Documentation

◆ benchmark_name_

◆ goal_constraint_regex_

◆ goal_offsets

◆ group_name_

◆ hostname_

◆ output_directory_

◆ path_constraint_regex_

◆ planning_pipelines_

◆ port_

◆ predefined_poses_

◆ predefined_poses_group_

◆ query_regex_

◆ runs_

◆ scene_name_

◆ start_state_regex_

◆ timeout_

◆ trajectory_constraint_regex_

◆ workspace_