Removed unnecessary scores from perception pipeline benchmark

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 */

src/scenarios/scenario_perception_pipeline.cpp

@@ -49,35 +49,22 @@ 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);
 
   moveit::planning_interface::MoveGroupInterface::Plan plan_msg;
   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);
   }
 }