Re: [ompl-users] saving all path in benchmarking code

[Mark M. <mm...@ri...>]

Hi Hadar,

You can use a post-run event to save a path after each run of planner:

ofstream myfile;
b.addPlanner(std::make_shared<control::RRT>(setup.getSpaceInformation()));
b.addPlanner(std::make_shared<control::KPIECE1>(setup.getSpaceInformation())); 
b.setPostRunEvent(
   [](const ompl::base::PlannerPtr &planner, ompl::tools::Benchmark::RunProperties &properties)
   {
	auto solution = planner->getProblemDefinition()->getSolutionPath();
         // insert code here to save path to file
	...
    });
b.benchmark(request);
...


Best,

Mark



> On Dec 25, 2019, at 2:01 AM, hadar sinvani <had...@gm...> wrote:
> 
> Hi,
> I'm interested in saving all the solution paths.
> I managed to do this very easily when running ompl benchmark with my config file but I couldnt find how to do so when writing a benchmark code.
> 
> writing this:
>     ofstream myfile;
>     b.addPlanner(std::make_shared<control::RRT>(setup.getSpaceInformation()));
>     b.addPlanner(std::make_shared<control::KPIECE1>(setup.getSpaceInformation())); 
>     b.benchmark(request);
>     myfile.open ("mypathB.txt", ios::out | ios::app | ios::binary);
>     setup.getSolutionPath().asGeometric().printAsMatrix(myfile);
>     myfile.close();
>     b.saveResultsToFile();
> 
> saved only the only one path instead of the two that was found. In addition, when analyzing the log file, I didnt find any saved path.
> 
> I would appreciate your help.
> Best, Hadar. 
> 
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