diff --git a/GraspPlanning/CMakeLists.txt b/GraspPlanning/CMakeLists.txt
index a8b50bee21b60835552b10e7a83d3d95a7fb8bf4..b54c4919e967cafabbec64c35b65e2aaebac2bc9 100644
--- a/GraspPlanning/CMakeLists.txt
+++ b/GraspPlanning/CMakeLists.txt
@@ -47,35 +47,43 @@ endif()
SET(SOURCES
-ConvexHullGenerator.cpp
-ContactConeGenerator.cpp
-ApproachMovementGenerator.cpp
-ApproachMovementSurfaceNormal.cpp
-MeshConverter.cpp
-GraspPlanner/GraspPlanner.cpp
-GraspPlanner/GenericGraspPlanner.cpp
-GraspQuality/GraspEvaluationPoseUncertainty.cpp
-GraspQuality/GraspQualityMeasure.cpp
-GraspQuality/GraspQualityMeasureWrenchSpace.cpp
-GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
-Visualization/ConvexHullVisualization.cpp
+ ApproachMovementGenerator.cpp
+ ApproachMovementSurfaceNormal.cpp
+ ContactConeGenerator.cpp
+ ConvexHullGenerator.cpp
+ MeshConverter.cpp
+
+ GraspPlanner/GenericGraspPlanner.cpp
+ GraspPlanner/GraspPlanner.cpp
+ GraspPlanner/GraspPlannerEvaluation.cpp
+
+ GraspQuality/GraspEvaluationPoseUncertainty.cpp
+ GraspQuality/GraspQualityMeasure.cpp
+ GraspQuality/GraspQualityMeasureWrenchSpace.cpp
+ GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
+
+ Visualization/ConvexHullVisualization.cpp
)
SET(INCLUDES
-GraspStudio.h
-ConvexHullGenerator.h
-ContactConeGenerator.h
-ApproachMovementGenerator.h
-ApproachMovementSurfaceNormal.h
-MeshConverter.h
-GraspPlanner/GraspPlanner.h
-GraspPlanner/GenericGraspPlanner.h
-GraspPlanner/GraspPlannerEvaluation.h
-GraspQuality/GraspEvaluationPoseUncertainty.h
-GraspQuality/GraspQualityMeasure.h
-GraspQuality/GraspQualityMeasureWrenchSpace.h
-GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.h
-Visualization/ConvexHullVisualization.h
+ GraspStudio.h
+
+ ApproachMovementGenerator.h
+ ApproachMovementSurfaceNormal.h
+ ContactConeGenerator.h
+ ConvexHullGenerator.h
+ MeshConverter.h
+
+ GraspPlanner/GenericGraspPlanner.h
+ GraspPlanner/GraspPlanner.h
+ GraspPlanner/GraspPlannerEvaluation.h
+
+ GraspQuality/GraspEvaluationPoseUncertainty.h
+ GraspQuality/GraspQualityMeasure.h
+ GraspQuality/GraspQualityMeasureWrenchSpace.h
+ GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.h
+
+ Visualization/ConvexHullVisualization.h
)
diff --git a/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.cpp b/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3a24f3f6e4e2ea342d0296a6e9cdb7141a74d8c7
--- /dev/null
+++ b/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.cpp
@@ -0,0 +1,183 @@
+/**
+* This file is part of Simox.
+*
+* Simox is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* Simox is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package GraspStudio
+* @author Nikolaus Vahrenkamp
+* @copyright 2017 Nikolaus Vahrenkamp
+* GNU Lesser General Public License
+*
+*/
+#include "GraspPlannerEvaluation.h"
+
+namespace GraspStudio
+{
+
+GraspPlannerEvaluation::GraspPlannerEvaluation()
+{
+ nrGraspsGenerated = 0;
+ nrGraspsValid = 0;
+ nrGraspsInvalidCollision = 0;
+ nrGraspsInvalidFC = 0;
+ nrGraspsInvalidContacts = 0;
+ nrGraspsValidPrecision = 0;
+ nrGraspsValidPower = 0;
+ fcCheck = false;
+ minQuality = 0.0f;
+}
+
+void GraspPlannerEvaluation::print()
+{
+ std::cout << (*this) << std::endl;
+}
+
+std::string GraspPlannerEvaluation::GetCSVHeader()
+{
+ std::stringstream fs;
+ fs << "minQuality" << ","
+ << "nrGraspsGenerated" << ","
+ << "nrGraspsValid" << ","
+ << "nrGraspsInValid" << ","
+ << "nrGraspsValidPrecision" << ","
+ << "nrGraspsValidPower" << ","
+ << "nrGraspsInvalidCollision" << ","
+ << "nrGraspsInvalidFC" << ","
+ << "nrGraspsInvalidContacts" << ","
+ << "AverageDurationMS" << ","
+ << "percPowerGrasps" << ","
+ << "percPrecGraps" << ","
+ << "avgScore";
+ return fs.str();
+}
+
+std::string GraspPlannerEvaluation::toCSVString() const
+{
+ float timeAcc = 0;
+ float avgTime = 0;
+ float scoreAcc = 0;
+ int nrGrasps = static_cast<int>(timeGraspMS.size());
+ int nrValid = 0;
+ int nrPower = 0;
+ int nrPrecision = 0;
+ for (size_t i = 0; i < timeGraspMS.size(); i++)
+ {
+ timeAcc+=timeGraspMS.at(i);
+ if (graspValid.at(i))
+ {
+ nrValid++;
+ scoreAcc+=graspScore.at(i);
+ }
+ if (graspTypePower.at(i))
+ nrPower++;
+ else
+ nrPrecision++;
+ }
+ float percPower = 0;
+ float percPrec = 0;
+ if (nrGrasps > 0)
+ {
+ percPower = static_cast<float>(nrPower) / static_cast<float>(nrGrasps);
+ percPrec = static_cast<float>(nrPrecision) / static_cast<float>(nrGrasps);
+ avgTime = timeAcc / static_cast<float>(nrGrasps);
+ }
+ float avgScore = 0;
+ if (nrValid > 0)
+ {
+ avgScore = scoreAcc / nrValid;
+ }
+
+
+ std::stringstream fs;
+ fs << minQuality << ","
+ << nrGraspsGenerated << ","
+ << nrGraspsValid << ","
+ << (nrGraspsInvalidCollision+nrGraspsInvalidFC+nrGraspsInvalidContacts) << ","
+ << nrGraspsValidPrecision << ","
+ << nrGraspsValidPower << ","
+ << nrGraspsInvalidCollision << ","
+ << nrGraspsInvalidFC << ","
+ << nrGraspsInvalidContacts << ","
+ << avgTime << ","
+ << percPower << ","
+ << percPrec << ","
+ << avgScore;
+ return fs.str();
+}
+
+std::ostream& operator<<(std::ostream& os, const GraspPlannerEvaluation& rhs)
+{
+ os << "---------------- GRASP PLANNER EVALUATION -----------" << std::endl;
+ if (rhs.fcCheck)
+ os << "ForceClosure check: true" << std::endl;
+ else
+ os << "ForceClosure check: false" << std::endl;
+ os << "Min Quality: " << rhs.minQuality << std::endl;
+
+ os << "nrGraspsGenerated: " << rhs.nrGraspsGenerated << std::endl;
+ os << "nrGraspsValid: " << rhs.nrGraspsValid << std::endl;
+ os << "nrGraspsInValid: " << (rhs.nrGraspsInvalidCollision + rhs.nrGraspsInvalidFC
+ + rhs.nrGraspsInvalidContacts) << std::endl;
+ os << "nrGraspsValidPrecision: " << rhs.nrGraspsValidPrecision << std::endl;
+ os << "nrGraspsValidPower: " << rhs.nrGraspsValidPower << std::endl;
+ os << "nrGraspsInvalidCollision: " << rhs.nrGraspsInvalidCollision << std::endl;
+ os << "nrGraspsInvalidFC: " << rhs.nrGraspsInvalidFC << std::endl;
+ os << "nrGraspsInvalidContacts: " << rhs.nrGraspsInvalidContacts << std::endl;
+ VR_ASSERT (rhs.timeGraspMS.size() == rhs.graspScore.size());
+ VR_ASSERT (rhs.timeGraspMS.size() == rhs.graspValid.size());
+ VR_ASSERT (rhs.timeGraspMS.size() == rhs.graspTypePower.size());
+ float timeAcc = 0;
+ float scoreAcc = 0;
+ int nrGrasps = static_cast<int>(rhs.timeGraspMS.size());
+ int nrValid = 0;
+ int nrPower = 0;
+ int nrPrecision = 0;
+ for (size_t i = 0; i < rhs.timeGraspMS.size(); i++)
+ {
+ timeAcc += rhs.timeGraspMS.at(i);
+ if (rhs.graspValid.at(i))
+ {
+ nrValid++;
+ scoreAcc += rhs.graspScore.at(i);
+ }
+ if (rhs.graspTypePower.at(i))
+ nrPower++;
+ else
+ nrPrecision++;
+ }
+ os << "Time complete: " << timeAcc << " ms" << std::endl;
+ if (nrGrasps > 0)
+ {
+ os << "Avg time per grasp (valid&invalid): " <<
+ static_cast<float>(timeAcc) / static_cast<float>(nrGrasps) << " ms" << std::endl;
+ float percPower = static_cast<float>(nrPower) / static_cast<float>(nrGrasps);
+ float percPrec = static_cast<float>(nrPrecision) / static_cast<float>(nrGrasps);
+ os << "Precision grasps: " << nrPrecision << " -> " << percPrec*100 << "%" << std::endl;
+ os << "Power grasps: " << nrPower << " -> " << percPower*100 << "%" << std::endl;
+ }
+ if (nrValid > 0)
+ {
+ os << "Avg score (valid):" << scoreAcc / nrValid << std::endl;
+ }
+ if (rhs.nrGraspsGenerated > 0)
+ os << "Percentage of valid grasps: "
+ << static_cast<float>(rhs.nrGraspsValid) / static_cast<float>(rhs.nrGraspsGenerated) * 100.0f
+ << "%" << std::endl;
+
+ return os;
+}
+
+
+}
+
diff --git a/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.h b/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.h
index b0b7cea85cc03b69559f996da54f5631c7c136b5..c57642688440e1adcab139fe63a6dedf16114b16 100644
--- a/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.h
+++ b/GraspPlanning/GraspPlanner/GraspPlannerEvaluation.h
@@ -23,173 +23,45 @@
#pragma once
#include "../GraspStudio.h"
+
#include <vector>
-namespace GraspStudio
-{
-struct GraspPlannerEvaluation
+namespace GraspStudio
{
- GraspPlannerEvaluation()
- {
- nrGraspsGenerated = 0;
- nrGraspsValid = 0;
- nrGraspsInvalidCollision = 0;
- nrGraspsInvalidFC = 0;
- nrGraspsInvalidContacts = 0;
- nrGraspsValidPrecision = 0;
- nrGraspsValidPower = 0;
- fcCheck = false;
- minQuality = 0.0f;
- }
- void print()
+ struct GraspPlannerEvaluation
{
- std::cout << "---------------- GRASP PLANNER EVALUATION -----------" << std::endl;
- if (fcCheck)
- std::cout << "ForceClosure check: true" << std::endl;
- else
- std::cout << "ForceClosure check: false" << std::endl;
- std::cout << "Min Quality: " << minQuality << std::endl;
-
- std::cout << "nrGraspsGenerated:" << nrGraspsGenerated << std::endl;
- std::cout << "nrGraspsValid:" << nrGraspsValid << std::endl;
- std::cout << "nrGraspsInValid:" << nrGraspsInvalidCollision+nrGraspsInvalidFC+nrGraspsInvalidContacts << std::endl;
- std::cout << "nrGraspsValidPrecision:" << nrGraspsValidPrecision << std::endl;
- std::cout << "nrGraspsValidPower:" << nrGraspsValidPower << std::endl;
- std::cout << "nrGraspsInvalidCollision:" << nrGraspsInvalidCollision << std::endl;
- std::cout << "nrGraspsInvalidFC:" << nrGraspsInvalidFC << std::endl;
- std::cout << "nrGraspsInvalidContacts:" << nrGraspsInvalidContacts << std::endl;
- VR_ASSERT (timeGraspMS.size() == graspScore.size());
- VR_ASSERT (timeGraspMS.size() == graspValid.size());
- VR_ASSERT (timeGraspMS.size() == graspTypePower.size());
- float timeAcc = 0;
- float scoreAcc = 0;
- int nrGrasps = (int)timeGraspMS.size();
- int nrValid = 0;
- int nrPower = 0;
- int nrPrecision = 0;
- for (size_t i=0;i<timeGraspMS.size();i++)
- {
- timeAcc+=timeGraspMS.at(i);
- if (graspValid.at(i))
- {
- nrValid++;
- scoreAcc+=graspScore.at(i);
- }
- if (graspTypePower.at(i))
- nrPower++;
- else
- nrPrecision++;
- }
- std::cout << "Time complete: " << timeAcc << " ms" << std::endl;
- if (nrGrasps>0)
- {
- std::cout << "Avg time per grasp (valid&invalid):" << (float)timeAcc / (float)nrGrasps << " ms" << std::endl;
- float percPower = (float)nrPower / (float)nrGrasps;
- float percPrec = (float)nrPrecision / (float)nrGrasps;
- std::cout << "Precision grasps:" << nrPrecision << " -> " << percPrec*100 << "%" << std::endl;
- std::cout << "Power grasps:" << nrPower << " -> " << percPower*100 << "%" << std::endl;
- }
- if (nrValid>0)
- {
- std::cout << "Avg score (valid):" << scoreAcc / nrValid << std::endl;
- }
- if (nrGraspsGenerated>0)
- std::cout << "Percentage of valid grasps:" << (float)nrGraspsValid / (float)nrGraspsGenerated * 100.0f << "%" << std::endl;
- }
-
- static std::string GetCSVHeader()
- {
- std::stringstream fs;
- fs << "minQuality" << ","
- << "nrGraspsGenerated" << ","
- << "nrGraspsValid" << ","
- << "nrGraspsInValid" << ","
- << "nrGraspsValidPrecision" << ","
- << "nrGraspsValidPower" << ","
- << "nrGraspsInvalidCollision" << ","
- << "nrGraspsInvalidFC" << ","
- << "nrGraspsInvalidContacts" << ","
- << "AverageDurationMS" << ","
- << "percPowerGrasps" << ","
- << "percPrecGraps" << ","
- << "avgScore";
- return fs.str();
- }
-
- std::string toCSVString() const
- {
- float timeAcc = 0;
- float avgTime = 0;
- float scoreAcc = 0;
- int nrGrasps = (int)timeGraspMS.size();
- int nrValid = 0;
- int nrPower = 0;
- int nrPrecision = 0;
- for (size_t i=0;i<timeGraspMS.size();i++)
- {
- timeAcc+=timeGraspMS.at(i);
- if (graspValid.at(i))
- {
- nrValid++;
- scoreAcc+=graspScore.at(i);
- }
- if (graspTypePower.at(i))
- nrPower++;
- else
- nrPrecision++;
- }
- float percPower = 0;
- float percPrec = 0;
- if (nrGrasps>0)
- {
- percPower = (float)nrPower / (float)nrGrasps;
- percPrec = (float)nrPrecision / (float)nrGrasps;
- avgTime = timeAcc / (float)nrGrasps;
- }
- float avgScore = 0;
- if (nrValid>0)
- {
- avgScore = scoreAcc / nrValid;
- }
-
-
- std::stringstream fs;
- fs << minQuality << ","
- << nrGraspsGenerated << ","
- << nrGraspsValid << ","
- << (nrGraspsInvalidCollision+nrGraspsInvalidFC+nrGraspsInvalidContacts) << ","
- << nrGraspsValidPrecision << ","
- << nrGraspsValidPower << ","
- << nrGraspsInvalidCollision << ","
- << nrGraspsInvalidFC << ","
- << nrGraspsInvalidContacts << ","
- << avgTime << ","
- << percPower << ","
- << percPrec << ","
- << avgScore;
- return fs.str();
- }
-
-
- int nrGraspsGenerated;
- int nrGraspsValid;
- int nrGraspsInvalidCollision;
- int nrGraspsInvalidFC; // or quality
- int nrGraspsInvalidContacts;
-
- int nrGraspsValidPrecision;
- int nrGraspsValidPower;
-
- std::vector<float> timeGraspMS; // time per grasp generation
- std::vector<float> graspScore; //grasp quality
- std::vector<bool> graspValid; //grasp valid
- std::vector<bool> graspTypePower; //grasp type
-
- bool fcCheck;
- float minQuality;
-};
+ GraspPlannerEvaluation();
+
+ void print();
+
+ static std::string GetCSVHeader();
+
+ std::string toCSVString() const;
+
+
+ int nrGraspsGenerated;
+ int nrGraspsValid;
+ int nrGraspsInvalidCollision;
+ int nrGraspsInvalidFC; // or quality
+ int nrGraspsInvalidContacts;
+
+ int nrGraspsValidPrecision;
+ int nrGraspsValidPower;
+
+ std::vector<float> timeGraspMS; // time per grasp generation
+ std::vector<float> graspScore; //grasp quality
+ std::vector<bool> graspValid; //grasp valid
+ std::vector<bool> graspTypePower; //grasp type
+
+ bool fcCheck;
+ float minQuality;
+
+ };
+
+
+ std::ostream& operator<< (std::ostream& os, const GraspPlannerEvaluation& rhs);
}