From 2d4a2469515123655e673fda9a1c85e3eb7e88bb Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Thu, 22 Aug 2024 11:07:32 +0300
Subject: [PATCH] Removed unnecessary scores from perception pipeline benchmark
(#28)
---
.../scenario_perception_pipeline.hpp | 15 ++++--------
.../scenario_perception_pipeline.cpp | 23 ++++---------------
2 files changed, 8 insertions(+), 30 deletions(-)
diff --git a/include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp b/include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp
index 02f14bd..e74b078 100644
--- a/include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp
+++ b/include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp
@@ -79,23 +79,16 @@ class ScenarioPerceptionPipeline
ScenarioPerceptionPipeline(std::shared_ptr<MoveGroupInterface> move_group_interface_ptr);
/** \brief Given a \e pose_list, sends poses in pose_list to plan,
- * if the pipeline in \e sendTargetPose returns true,
- * then success_number is increased.
- * If the pipeline in \e sendTargetPose returns false,
- * failure_number is increased.
* \param [in] test_case The pose list to benchmark
- * \return success_number and failure_number in tuple respectively
*/
- std::tuple<int, int> runTestCase(const nav_msgs::msg::Path& pose_list);
+ void runTestCase(const nav_msgs::msg::Path& test_case);
/** \brief Given a \e target_pose, sends this pose in order to plan via move_group_interface,
- * if the planning is successful,
- * planning message is sent to execute trajectory. Then it is returned true.
- * If the planning is failed, the execution is ignored and then it is returned false
+ * if the planning is successful, planning message is sent to execute trajectory.
+ * If the planning is failed, the execution is ignored
* \param [in] target_pose The pose to plan
- * \return if the planning successful, returns true, or false
*/
- bool sendTargetPose(const geometry_msgs::msg::Pose& target_pose);
+ void sendTargetPose(const geometry_msgs::msg::Pose& target_pose);
private:
/** move_group_interface_ptr to communicate with move_group_server */
diff --git a/src/scenarios/scenario_perception_pipeline.cpp b/src/scenarios/scenario_perception_pipeline.cpp
index 53dcc62..d4ca7da 100644
--- a/src/scenarios/scenario_perception_pipeline.cpp
+++ b/src/scenarios/scenario_perception_pipeline.cpp
@@ -49,23 +49,15 @@ ScenarioPerceptionPipeline::ScenarioPerceptionPipeline(std::shared_ptr<MoveGroup
{
}
-std::tuple<int, int> ScenarioPerceptionPipeline::runTestCase(const nav_msgs::msg::Path& test_case)
+void ScenarioPerceptionPipeline::runTestCase(const nav_msgs::msg::Path& test_case)
{
- int success_number = 0;
- int failure_number = 0;
for (auto& pose_stamped : test_case.poses)
{
- bool is_successful = sendTargetPose(pose_stamped.pose);
- if (is_successful)
- success_number++;
- else
- failure_number++;
+ sendTargetPose(pose_stamped.pose);
}
-
- return { success_number, failure_number };
}
-bool ScenarioPerceptionPipeline::sendTargetPose(const geometry_msgs::msg::Pose& target_pose)
+void ScenarioPerceptionPipeline::sendTargetPose(const geometry_msgs::msg::Pose& target_pose)
{
move_group_interface_ptr_->setPoseTarget(target_pose);
@@ -73,11 +65,6 @@ bool ScenarioPerceptionPipeline::sendTargetPose(const geometry_msgs::msg::Pose&
if (move_group_interface_ptr_->plan(plan_msg) == moveit::core::MoveItErrorCode::SUCCESS)
{
move_group_interface_ptr_->execute(plan_msg);
- return true;
- }
- else
- {
- return false;
}
}
@@ -151,9 +138,7 @@ BENCHMARK_DEFINE_F(ScenarioPerceptionPipelineFixture, test_scenario_perception_p
for (auto _ : st)
{
auto sc = ScenarioPerceptionPipeline(move_group_interface_ptr_);
- auto [success_number, failure_number] = sc.runTestCase(selected_test_case);
- st.counters["success_number"] = success_number;
- st.counters["failure_number"] = failure_number;
+ sc.runTestCase(selected_test_case);
}
}