C++ (Cpp) KoulesSetup::getConfiguredPlannerInstance示例

示例#1

文件： Koules.cpp 项目： OspreyX/ompl-informed

void benchmark(KoulesSetup& ks, ot::Benchmark::Request request,
    const std::string& plannerName, const std::string& outputFile)
{
    // Create a benchmark class
    ompl::tools::Benchmark b(ks, "Koules experiment");
    // Add the planner to evaluate
    b.addPlanner(ks.getConfiguredPlannerInstance(plannerName));
    // Start benchmark
    b.benchmark(request);
    // Save the results
    b.saveResultsToFile(outputFile.c_str());
    OMPL_INFORM("Output saved in %s", outputFile.c_str());
}

示例#2

文件： Koules.cpp 项目： HRZaheri/batch-informed-trees

void benchmark(KoulesSetup& ks, ot::Benchmark::Request request,
    const std::string& plannerName, const std::string& outputFile)
{
    // Create a benchmark class
    ompl::tools::Benchmark b(ks, "Koules");
    b.addExperimentParameter("num_koules", "INTEGER", boost::lexical_cast<std::string>(
        (ks.getStateSpace()->getDimension() - 5) / 4));
    // Add the planner to evaluate
    b.addPlanner(ks.getConfiguredPlannerInstance(plannerName));
    // Start benchmark
    b.benchmark(request);
    // Save the results
    b.saveResultsToFile(outputFile.c_str());
    OMPL_INFORM("Output saved in %s", outputFile.c_str());
}