minor readme

README.md

@@ -160,30 +160,119 @@ Benchmark between planners
 python3 ../benchmark/benchmark.py -m bench -bc    ../benchmark/config/compare.yaml
 ```
 
-Study of heuristic functions
+Generate fancy table
+```
+python3  ../benchmark/benchmark.py --mode fancy --bench_cfg ../benchmark/config/plot_results_v3.yaml
+```
+
+(last version)
+```
+python3  ../benchmark/benchmark.py --mode fancy --bench_cfg ../benchmark/config/plot_results_v4.yaml
+```
+
+Generate table for website
+```
+python3  ../benchmark/benchmark.py --mode fancy --bench_cfg ../benchmark/config/plot_results_v_all.yaml
+```
+
+(last version)
+```
+python3  ../benchmark/benchmark.py --mode fancy --bench_cfg ../benchmark/config/plot_results_v_all_v4.yaml
+```
+
+
+
+Generate plots only for three for the paper.
+```
+PAPER=1 python3  ../benchmark/benchmark.py --mode bench --bench_cfg  ../benchmark/config/plot_results_v3_threePlots.yaml
+```
+
+
+
+### Search heuristic
 
+Study of heuristic functions
 ```
 python3 ../benchmark/benchmark.py -m bench_search -bc    ../benchmark/config/bench_search.yaml
 ```
 
+Only analyze the results
+```
+python3 ../benchmark/benchmark.py -m bench_search -bc    ../benchmark/config/bench_search_make_table_tro.yaml
+```
+
+Results for website
+```
+python3 ../benchmark/benchmark.py -m bench_search -bc    ../benchmark/config/bench_search_make_table_tro_all.yaml
+```
+
+
+
+### Optimization with Free terminal time
+
 Study of strategy for trajectoy optimization with free terminal time
 ```
 python3 ../benchmark/benchmark.py -m bench_time -bc    ../benchmark/config/bench_time.yaml
 ```
 
+Latex Table with subset of results shown in the paper:
+```
+time python3 ../benchmark/benchmark.py -m bench_time -bc ../benchmark/config/make_table_time_tro.yaml
+```
+
+For website table:
+```
+time python3 ../benchmark/benchmark.py -m bench_time -bc ../benchmark/config/make_table_time_tro_all.yaml
+```
+
+
+
+
+
+
+
 Study of time spent in each component
 
 ```
 python3   ../benchmark/benchmark.py -m study  -bc ../benchmark/config/bench_abblation_study.yaml
 ```
 
+(Results in TRO)
+
+```
+python3   ../benchmark/benchmark.py -m study  -bc ../benchmark/config/bench_abblation_results_tro.yaml
+```
+
+
+
+
 You can modify each config file to change the number of runs, the evaluated problems and the maximum time.
 The configurations files we used for `TRO` have prefix `TRO`.
 
 The paramteres for each algorithm are in `.yaml` files inside the `benchmark/config/algs` directory, for example `idbastar_v0.yaml`.
 
 
 
+## Visualization
+
+
+Plot environments (modify python file to select which envs to print)
+```
+cd build
+python3 ../plot_all_envs.py
+```
+
+Visualize trajectores
+
+```
+DO something
+```
+
+
+
+
+
+
 
 ## Citing