status when i do the benchmark of previous problems

benchmark/benchmark.py

@@ -242,6 +242,7 @@ def generate_texpdf(filename_tex: str) -> None:
 parser.add_argument("-bc", "--bench_cfg")
 parser.add_argument("-d", "--dynamics")
 parser.add_argument("-f", "--file_in")
+parser.add_argument("-r", "--run", type=int, default=1)
 
 args = parser.parse_args()
 
@@ -2566,6 +2567,9 @@ def check_if_best(value: float, field: str, problem: str, all_data) -> bool:
         normalize = True
 
         if normalize:
+
+            # chech that i have a normalizer
+
             for p_id, p in enumerate(problems):
 
                 Dproblem = {}
@@ -2575,14 +2579,26 @@ def check_if_best(value: float, field: str, problem: str, all_data) -> bool:
                     if d["experiment"].problem == p
                     and d["experiment"].alg == "idbastar_iros"
                 ]
-                assert len(data_p) == 1
-                data = data_p[0]["data"]
+                if not len(data_p) == 1:
+                    normalize = False
 
-                for f in fields_normalizer:
-                    Dproblem[f] = data[f]
-                Dnormalizer[p] = Dproblem
+            if normalize:
+                for p_id, p in enumerate(problems):
+                    Dproblem = {}
+                    data_p = [
+                        d
+                        for d in all_data
+                        if d["experiment"].problem == p
+                        and d["experiment"].alg == "idbastar_iros"
+                    ]
+                    assert len(data_p) == 1
+                    data = data_p[0]["data"]
 
-        print("Dnormalizer", Dnormalizer)
+                    for f in fields_normalizer:
+                        Dproblem[f] = data[f]
+                    Dnormalizer[p] = Dproblem
+
+            print("Dnormalizer", Dnormalizer)
 
         filename_pdf = f"../results_new/summary/summary_iros_plot_{date_time}_all.pdf"
         print("writing pdf to ", filename_pdf)
@@ -2720,10 +2736,11 @@ def check_if_best(value: float, field: str, problem: str, all_data) -> bool:
 
 def benchmark_iros(bench_cfg: str):
 
-    run_code = False
+    run_code = args.run
+
     if run_code:
-        with open(bench_cfg) as f:
-            d = yaml.load(f, Loader=yaml.CLoader)
+        # with open(bench_cfg) as f:
+        #     bench_cfg = yaml.load(f, Loader=yaml.CLoader)
 
         experiments = __benchmark(bench_cfg)
 

benchmark/config/algs/dbrrt_v0.yaml

@@ -1,10 +1,11 @@
 # general parameters, all systems and problems
 default:
-  solver_id: 1
+  solver_id: 0
   do_optimization: true
   search_timelimit: 15000 # in ms
   cost_delta_factor: 1
-  smooth_traj: true
+  smooth_traj: false
+  max_idb_it: 5
 
 # you can set parameters per dynamial system
 unicycle1_v0:
@@ -75,7 +76,7 @@ quad2dpole_v0:
     # weight_goal: 200
     weight_goal: 300
     max_iter: 150
-    solver_id: 1
+    # solver_id: 1
     # shortcut: true
 
 
@@ -103,13 +104,13 @@ quad3d_v0:
     # goal_region: .7
 
     delta: .35
+    # goal_region: .
     goal_region: .7
-    # goal_region: .65
     # max_motions: 5000
     max_motions: 5000
     max_iter: 100 
     # solver_id: 0
-    weight_goal: 100
+    weight_goal: 100 
     use_collision_shape: false
     solver_id: 0
     # use_mim_solvers: true

benchmark/config/compare_selected_idbastar.yaml

@@ -1,33 +1,34 @@
-trials:  5
+trials:  10
 timelimit: 60
 n_cores: 8 # -1=auto
 
 
 problems:
   # - acrobot_v0/swing_up_empty
   # - acrobot_v0/swing_up_obs_hard
-  # - car1_v0/kink_0
-  # - car1_v0/parallelpark_0
-  # - quad2d_v0/fall_through
-  # - quad2d_v0/quad_bugtrap
-  # - quad2dpole_v0/up_obs
-  # - quad2dpole_v0/window_hard
-  # - quadrotor_v0/recovery
-  # - quadrotor_v0/recovery_with_obs
-  # - quadrotor_v1/quad_one_obs
-  # - quadrotor_v1/window
+  - car1_v0/kink_0
+  - car1_v0/parallelpark_0
+  - quad2d_v0/fall_through
+  - quad2d_v0/quad_bugtrap
+  - quad2dpole_v0/up_obs
+  - quad2dpole_v0/window_hard
+  - quadrotor_v0/recovery
+  - quadrotor_v0/recovery_with_obs
+  - quadrotor_v1/quad_one_obs
+  - quadrotor_v1/window
   - unicycle1_v0/bugtrap_0
-  # - unicycle1_v2/wall_0
+  - unicycle1_v2/wall_0
   - unicycle2_v0/bugtrap_0
-  # - unicycle2_v0/parallelpark_0
-
+  - unicycle2_v0/parallelpark_0
 
+# continue here!!
+# in bidirectional search, add a different parameter for the delta of the connection?
 algs:
   - idbastar_iros
   - dbrrt_v0
   - dbrrt_v1
   - dbrrt_v2
-  - geo_v0
-  - sst_v0
+  # - geo_v0
+  # - sst_v0
 
 

include/dynoplan/dbrrt/dbrrt.hpp

@@ -39,6 +39,7 @@ struct Options_dbrrt {
   int max_valid_expansions_to_goal = 10;
   bool use_connect_orig = false;
   bool shortcut = false;
+  int max_idb_it = 10;
 
   // if 1, i take the first primitive that is valid.
   // if > 1 i wait until max_valid_expansions are valid and then i take the
@@ -84,6 +85,8 @@ struct Options_dbrrt {
     loader.set(VAR_WITH_NAME(max_valid_expansions_to_goal));
     loader.set(VAR_WITH_NAME(use_connect_orig));
     loader.set(VAR_WITH_NAME(shortcut));
+    loader.set(VAR_WITH_NAME(max_idb_it));
+
   }
 
   void add_options(po::options_description &desc) { __load_data(&desc, true); }

src/dbrrt/dbrrt.cpp

@@ -2353,7 +2353,7 @@ void idbrrt(const dynobench::Problem &problem,
   double time_search = 0;
   double time_opt = 0;
 
-  while (!finished && it < max_it) {
+  while (!finished && it < options_dbrrt.max_idb_it) {
     if (it > 0) {
       options_dbrrt_local.delta *= delta_factor;
       options_dbrrt_local.goal_region *= delta_factor;