TRRTStatistics Struct Reference

Detailed Description

Statistics collected during the RRT constructin to characterize different algorithms or parameter sets.

Statistics should only be used in debug/analysis mode. Otherwise it is better to skip collecting them (for efficiency reasons). See GET_RRT_STATISTICS

Note that this structure is not thread-save. Thus, we must only collect statistics when executing in single core mode.

Todo:

Switch to thread-save statistics before implementing a parallel version of the RRT.

Definition at line 199 of file rrt.h.

Data Fields
unsigned int	n
unsigned int	nBranch
unsigned int	nNoEmptyBranch
unsigned int	nTreeConnection
unsigned int	nNoEmptyTreeConnection
unsigned int	nStep
double	dQrand
unsigned int	nQrandReached
unsigned int	nConvergenceError
unsigned int	nHighCost
unsigned int	nOutOfDomain
unsigned int	nDistanceIncreases
unsigned int	nCollision
unsigned int	nTooFar
unsigned int	nStalled
unsigned int	nSample
unsigned int	nRandom
unsigned int	nRejections
unsigned int	nCollisionChecks

Field Documentation

unsigned int TRRTStatistics::n

Number of statistics accumulated in the structure.

Definition at line 200 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nBranch

Number of branch extensions.

Definition at line 203 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTBranch(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nNoEmptyBranch

Number of non-empty branches.

Definition at line 204 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTNoEmptyBranch(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nTreeConnection

Number of attemps to connect the two trees.

Definition at line 206 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTTreeConnection(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nNoEmptyTreeConnection

Number of non-empty attemps of tree connection.

Definition at line 207 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTNoEmptyTreeConnection(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nStep

Number of steps in branch extension.

Definition at line 209 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTStep(), and PrintRRTStatistics().

double TRRTStatistics::dQrand

Accumulated distances from q_rand-tree.

Definition at line 210 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTDistanceQrand(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nQrandReached

Times we actually reached q_rand.

Definition at line 213 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTQrandReached(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nConvergenceError

Error converging to the manifold.

Definition at line 214 of file rrt.h.

Referenced by InitRRTStatistics(), NewRRTConvergenceError(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nHighCost

A high cost configuration is reached (TRRT only).

Definition at line 215 of file rrt.h.

Referenced by InitRRTStatistics(), NewRRTHighCost(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nOutOfDomain

The brach leaves the domain.

Definition at line 216 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTOutOfDomain(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nDistanceIncreases

The distance to q_rand increases.

Definition at line 217 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTDistanceIncreases(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nCollision

Stopped due to collisions.

Definition at line 218 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTCollision(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nTooFar

Stopped due ot a large step.

Definition at line 219 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTTooFar(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nStalled

Stopped when the branch extension is stalled.

Definition at line 220 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTStalled(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nSample

Total of samples in the RRT.

Definition at line 222 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTSample(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nRandom

Number of times we generated a random sample

Definition at line 225 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTRandomSample(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nRejections

Number of rejected random samples

Definition at line 227 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTSampleRejection(), and PrintRRTStatistics().

unsigned int TRRTStatistics::nCollisionChecks

Number of collision checks

Definition at line 230 of file rrt.h.

Referenced by AccumulateRRTStatistics(), InitRRTStatistics(), NewRRTCollisionCheck(), and PrintRRTStatistics().