show

Visualize path planner metrics

Since R2022a

Syntax

show(plannerBM)

axHandle = show(plannerBM)

[___] = show(plannerBM,metricName)

Description

show(plannerBM) visualizes all the path planner metrics in a figure as box plots and bar graphs.

axHandle = show(plannerBM) returns the axes handle of the figure used to plot all the metrics.

[___] = show(plannerBM,metricName) visualizes 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

axHandle — Axes used to plot metrics

axes object | uiaxes object

Axes used to plot path, returned as either an axes or uiaxes object.

Version History

Introduced in R2022a