ompl_benchmark_plotter

This is an easy-to-use script to quickly generate optimality graphs (as pdf) from benchmark database file(s) generated in the Open Motion Planning Library (OMPL).

Generating optimality graphs

Input: Any number of database files.

  ./ompl_benchmark_plotter.py examples/example.db -s

Options

• -o, --output-file PDF-FILENAME Specify output pdf filename
• -s, --show Show output as pdf (requires xdg-open).
• -v {0,1,2,3}, --verbose {0,1,2,3} Select verbosity level. Default: 1.
• --quiet Do not show any output. Invalidates any verbose values.

Graph Options

NOTE: default values can be found in config/default.json

• --max-cost MAX-COST Specify upper bound on cost axis.
• --min-cost MIN-COST Specify lower bound on cost axis.
• --max-time MAX-TIME Specify upper bound on time axis.
• --min-time MIN-TIME Specify lower bound on time axis.
• --fontsize FONTSIZE Fontsize of title and descriptions.
• --label-fontsize LABEL-FONTSIZE Fontsize of tick labels.
• --ignore-non-optimal-planner Do not plot non-optimal planner.
• --title-name TITLE-NAME Set title name
• --legend-separate-file Print legend as separate file.
• --legend-below-figure Print legend below graph.
• --legend-none Do not print legend.

Acknowledgements

@gammell: This repository has been created as a tool to easily generate graphs similar to the ones which Jonathan Gammell has used throughout his work (Check out his work on asymptotically-optimal motion planning.)

@frangrothe: This library is also based upon earlier work by Francesco Grothe, who used optimality graphs extensively for his work on time-based motion planning (Check it out here: https://github.com/frangrothe/bt-motion-planning).

@servetb and @JayKamat99: For feedback on earlier versions, and advice on improvements.