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>
 
static constexpr int CARTESIAN_DOF = 6;
 
namespace moveit_ros_benchmarks
{
struct BenchmarkOptions
{
  BenchmarkOptions(const rclcpp::Node::SharedPtr& node);
 
  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;
 
  bool readBenchmarkOptions(const rclcpp::Node::SharedPtr& node);
  bool readPlannerConfigs(const rclcpp::Node::SharedPtr& node);
 
  void readWorkspaceParameters(const rclcpp::Node::SharedPtr& node);
  void readGoalOffset(const rclcpp::Node::SharedPtr& node);
 
  std::string hostname;    // Host address for warehouse
  int port;                // Port name for warehouse
  std::string scene_name;  // Scene name to load for this experiment
 
  int runs;                                   // Number of experiment runs
  double timeout;                             // Experiment timeout
  std::string benchmark_name;                 // Experiment name
  std::string group_name;                     // Joint group name
  std::string output_directory;               // Output directory for results file
  std::string query_regex;                    // Regex for queries in database
  std::string start_state_regex;              // Regex for start_states in database
  std::string goal_constraint_regex;          // Regex for goal_constraints in database
  std::string path_constraint_regex;          // Regex for path_constraints in database
  std::string trajectory_constraint_regex;    // Regex for trajectory_constraint in database
  std::vector<std::string> predefined_poses;  // List of named targets
  std::string predefined_poses_group;         // Group where the predefined poses are specified
  std::vector<double> goal_offsets =
      std::vector<double>(CARTESIAN_DOF);  // Offset applied to goal constraints: x, y, z, roll, pitch, yaw
 
  std::map<std::string, std::vector<std::string>> planning_pipelines;
  std::map<std::string, std::vector<std::pair<std::string, std::string>>> parallel_planning_pipelines;
 
  moveit_msgs::msg::WorkspaceParameters workspace;
};
}  // namespace moveit_ros_benchmarks