ExperienceSetup.h

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/* Author: Dave Coleman
 */

#ifndef OMPL_TOOLS_EXPERIENCE__EXPERIENCE_SETUP_
#define OMPL_TOOLS_EXPERIENCE__EXPERIENCE_SETUP_

#include "ompl/geometric/SimpleSetup.h"

namespace ompl
{

    namespace tools
    {

        OMPL_CLASS_FORWARD(ExperienceSetup);

        class ExperienceSetup : public geometric::SimpleSetup
        {
        public:
            struct ExperienceStats
            {
                ExperienceStats()
                    : numSolutionsFromRecall_(0)
                    , numSolutionsFromRecallSaved_(0)
                    , numSolutionsFromScratch_(0)
                    , numSolutionsFailed_(0)
                    , numSolutionsTimedout_(0)
                    , numSolutionsApproximate_(0)
                    , numSolutionsTooShort_(0)
                    , numProblems_(0)
                    , totalPlanningTime_(0.0)
                    , totalInsertionTime_(0.0)
                {
                }

                double getAveragePlanningTime() const
                {
                    if (!numProblems_)
                        return 0.0;

                    return totalPlanningTime_ / numProblems_;
                }

                double getAverageInsertionTime() const
                {
                    if (!numProblems_)
                        return 0.0;

                    // Clean up output
                    double time = totalInsertionTime_ / numProblems_;
                    if (time < 1e-8)
                        return 0.0;
                    else
                        return totalInsertionTime_ / numProblems_;
                }

                double numSolutionsFromRecall_;
                double numSolutionsFromRecallSaved_;
                double numSolutionsFromScratch_;
                double numSolutionsFailed_;
                double numSolutionsTimedout_;
                double numSolutionsApproximate_;
                double numSolutionsTooShort_; // less than 3 states
                double numProblems_; // input requests
                double totalPlanningTime_; // of all input requests, used for averaging
                double totalInsertionTime_; // of all input requests, used for averaging
            };

            struct ExperienceLog
            {
                ExperienceLog()
                    // Defaults
                    : planning_time(0.0),
                      insertion_time(0.0),
                      planner("NA"),
                      result("NA"),
                      is_saved("NA"),
                      approximate(0.0),
                      too_short(0.0),
                      insertion_failed(0.0),
                      score(0.0),
                      num_vertices(0.0),
                      num_edges(0.0),
                      num_connected_components(0.0)
                {}
                // Times
                double planning_time;
                double insertion_time;
                // Solution properties
                std::string planner;
                std::string result;
                std::string is_saved;
                // Failure booleans
                bool approximate;
                bool too_short;
                bool insertion_failed;
                // Lightning properties
                double score;
                // Thunder (SPARS) properties
                std::size_t num_vertices;
                std::size_t num_edges;
                std::size_t num_connected_components;
            };

            explicit
            ExperienceSetup(const base::SpaceInformationPtr &si);

            explicit
            ExperienceSetup(const base::StateSpacePtr &space);

            void logInitialize();

            void convertLogToString(const ExperienceLog &log);

            virtual void printResultsInfo(std::ostream &out = std::cout) const = 0;

            virtual void printLogs(std::ostream &out = std::cout) const = 0;

            virtual void saveDataLog(std::ostream &out = std::cout);

            virtual void setRepairPlanner(const base::PlannerPtr &planner) = 0;

            virtual bool save() = 0;

            virtual bool saveIfChanged() = 0;

            void enablePlanningFromRecall(bool enable);

            void enablePlanningFromScratch(bool enable);

            virtual void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const = 0;

            virtual std::size_t getExperiencesCount() const = 0;

            virtual const std::string& getFilePath() const;

            virtual bool setFilePath(const std::string &filePath);

            const ExperienceStats& getStats() const
            {
                return stats_;
            }

            virtual bool doPostProcessing()
            {
                return true;
            }

        protected:

            bool                              recallEnabled_;

            bool                              scratchEnabled_;

            std::string                       filePath_;

            // output data to file to analyze performance externally
            std::stringstream                 csvDataLogStream_;

            ExperienceStats                   stats_;
        };
    }

}
#endif