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).
Input: Any number of database files.
./ompl_benchmark_plotter.py examples/example.db -s
- -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.
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.
@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.