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addPlanner

Add path planner for benchmarking

    Description

    addPlanner(plannerBM,planFcn) adds the plan function of a planner as a function handle planFcn to the plannerBenchmark object.

    example

    addPlanner(plannerBM,planFcn,initializationFcn) also adds the initialization function of a planner as a function handle initializationFcn to the plannerBenchmark object.

    example

    addPlanner(___,Name=Value) specifies options using one or more name-value arguments in addition to any combination of input arguments from previous syntaxes.

    Examples

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    Create an occupancy map from an example map.

    load("exampleMaps.mat","simpleMap");
    map = occupancyMap(simpleMap);

    Create a state validator with stateSpaceSE2 using the map.

    sv = validatorOccupancyMap(stateSpaceSE2,Map=map);

    Specify the start and goal states.

    start = [5 8 pi/2];
    goal = [7 18 pi/2];

    Create a plannerBenchmark object.

    pbo = plannerBenchmark(sv,start,goal);

    Define the function handles for the initialization functions of the planners.

    plannerHAFcn = @(sv)plannerHybridAStar(sv);
    plannerRRTSFcn = @(sv)plannerRRTStar(sv.StateSpace,sv);

    Define the function handle for the plan function, which is common for both planners.

    plnFcn = @(initOut,s,g)plan(initOut,s,g);

    Add the path planners for benchmarking.

    addPlanner(pbo,plnFcn,plannerHAFcn);
    addPlanner(pbo,plnFcn,plannerRRTSFcn,PlannerName="ppRRTStar");

    Set the rng for repetitive results.

    rng('default')

    Run the path planners for the number of times specified in runCount to collect metrics.

    runCount = 5;
    runPlanner(pbo,runCount)
    Initializing plannerHAFcn_plnFcn ...
    Done.
    Planning a path from the start pose (5 8 1.5708) to the goal pose (7 18 1.5708) using plannerHAFcn_plnFcn.
    Executing run 1.
    Executing run 2.
    Executing run 3.
    Executing run 4.
    Executing run 5.
    Initializing ppRRTStar ...
    Done.
    Planning a path from the start pose (5 8 1.5708) to the goal pose (7 18 1.5708) using ppRRTStar.
    Executing run 1.
    Executing run 2.
    Executing run 3.
    Executing run 4.
    Executing run 5.
    

    Access path length metric for all the runs on the environment.

    [pLenSummary,pLenData] = metric(pbo,"pathLength")
    pLenSummary=2×4 table
                                Mean     Median    StdDev     sampleSize
                               ______    ______    _______    __________
    
        plannerHAFcn_plnFcn    10.349    10.349          0        5     
        ppRRTStar               12.84      12.9    0.67112        5     
    
    
    pLenData=2×5 table
                                Run1      Run2      Run3      Run4      Run5 
                               ______    ______    ______    ______    ______
    
        plannerHAFcn_plnFcn    10.349    10.349    10.349    10.349    10.349
        ppRRTStar                13.8      12.9      12.2        12      13.3
    
    

    Visualize all the metrics.

    show(pbo)

    Figure contains 6 axes objects. Axes object 1 with title clearance contains an object of type boxchart. Axes object 2 with title executionTime contains an object of type boxchart. Axes object 3 with title initializationTime contains an object of type boxchart. Axes object 4 with title isPathValid contains an object of type bar. Axes object 5 with title pathLength contains an object of type boxchart. Axes object 6 with title smoothness contains an object of type boxchart.

    Closely inspect the clearance metric.

    figure
    show(pbo,"clearance")

    Figure contains an axes object. The axes object contains an object of type boxchart.

    Input Arguments

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    Path planner benchmark, specified as a plannerBenchmark object.

    Plan function of path planner, specified as a function handle.

    The function handle should be of the form, @(initOut,start,goal)planFcn(...), where initOut is the output of the initialization function.

    If the initializationFcn input is not specified, the function handle should be @(env,start,goal)planFcn(...), where env is the Environment property of plannerBenchmark object.

    The first output of planFcn must be either a navPath object, m-by-2, or m-by-3 matrix.

    Data Types: function_handle

    Initialization function of path planner, specified as a function handle.

    The function handle should be of the form, @(env)initializationFcn(...), where env is the Environment property of plannerBenchmark object.

    The output of initializationFcn is the first input to the planFcn function handle.

    Data Types: function_handle

    Name-Value Arguments

    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

    Example: addPlanner(pbo,plnFcn,plannerRRTSFcn,PlannerName="ppRRTStar")

    Name of planner, specified as character vector or string scalar.

    The default planner name depends on one of the following,

    • If workspace variable name of initializationFcn and planFcn are initVar and planVar, respectively, the default planner name will be "initVar_planVar".

    • If the optional initializationFcn input is not specified then the default planner name will be "planVar".

    • If the function handles are specified as anonymous functions directly inside the addPlanner function, the default planner name will be "CustomInitFcn_CustomPlanFcn".

    • If the optional initializationFcn input is not specified and the planFcn function handle is specified as an anonymous function directly then the default planner name will be "CustomPlanFcn".

    Data Types: char | string

    Number of expected output from plan function, specified as a positive scalar.

    Data Types: single | double

    Version History

    Introduced in R2022a

    See Also

    Objects

    Functions