metric

Return path planner metrics

Since R2022a

Syntax

metricSummary = metric(plannerBM)

metricSummary = metric(plannerBM,metricName)

[metricSummary,metricData] = metric(plannerBM)

[metricSummary,metricData] = metric(plannerBM,metricName)

Description

metricSummary = metric(plannerBM) returns the summary of all the path planner metrics as a table.

metricSummary = metric(plannerBM,metricName) returns the summary of a specific metric.

[metricSummary,metricData] = metric(plannerBM) returns the metricData table with the metric values across each run for all metrics and metricSummary table with the summary of all metrics.

[metricSummary,metricData] = metric(plannerBM,metricName) returns the summary and the values of a specific metric.

Examples

Benchmark 2-D Path Planners

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)

Closely inspect the clearance metric.

figure
show(pbo,"clearance")

Input Arguments

plannerBM — Path planner benchmark

plannerBenchmark object

Path planner benchmark, specified as a plannerBenchmark object.

metricName — Metric name

"clearance" | "executionTime" | "initializationTime" | "isPathValid" | "pathLength" | "smoothness"

Metric name, specified as "clearance", "executionTime", "initializationTime", "isPathValid", "pathLength", or "smoothness".

Data Types: char | string

Output Arguments

metricSummary — Metric summary

table

Metric summary, returned as table. The summary includes mean, median, standard deviation, and sample size for metrics of numeric type. For the metrics of logical type, the summary includes the TrueCount, FalseCount, and SuccessRate. TrueCount is the number of times the metric value is true. FalseCount is the number of times the metric value is false. SuccessRate is the ratio of TrueCount to total runs of planner expressed in percentage.

Data Types: table

metricData — Metric value

table

Metric value, returned as table. The table contains the metric values across each run for all metrics.

Data Types: table

Tips

• If the metric value can not be computed due to empty states in path output or error during plan function execution, NaN will be displayed for corresponding values in metric data tables. The show function will not display any value for metrics with NaN value.

• If the path output is navPath, metrics are calculated using the state space in navPath.

• If the path output is a m-by-2 matrix, state space is assumed as stateSpaceSE2 with theta as 0 for all poses.

• If the path output is a m-by-3 matrix, the third column in the path output is assumed as theta and subsequently stateSpaceSE2 is assumed as the state space.

• If environment is validatorOccupancyMap, the metric isPathValid is computed using the specified environment.

• If environment is occupancyMap or binaryOccupancyMap, default validatorOccupancyMap is created using the specified environment as Map and state space is derived as above.

• The value of ValidationDistance property is assumed as 0.1*(1/resolution of map).

Version History

Introduced in R2022a