Metrics.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 */
 
#pragma once
 
#include <iosfwd>
#include <optional>
#include <string>
#include <vector>
 
#include <SimoxUtility/json/json.hpp>
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
 
#include "Sampling.h"
 
namespace armarx::navigation::evaluation
{
 
    /// What one planning request produced.
    struct Record
    {
        Request request;
 
        bool planned{false};
 
        /// Straight-line start-to-goal distance and the length actually planned [mm].
        float separation{0.F};
 
        float pathLength{0.F};
 
        int waypoints{0};
 
        global_planning::GlobalPlannerResult::SmoothingOutcome smoothing{};
 
        bool smoothingApplied{false};
 
        /// Folds in the trajectory the planner returned, measured independently of the
        /// smoother's own gate: the accepted path is what the robot would drive.
        int foldsInResult{0};
 
        /// Smallest costmap clearance along the returned path [mm], sampled at waypoints and
        /// along the segments between them.
        float minClearance{0.F};
 
        float plannedSeconds{0.F};
 
        /// Costmap clearance at the requested start and goal [mm]. A request whose endpoint is
        /// closer to an obstacle than the checker's clearance cannot produce an acceptable
        /// path however well the middle is smoothed, so a rejection rate that does not
        /// separate these says nothing about the smoother.
        float startClearance{0.F};
 
        float goalClearance{0.F};
 
        /**
         * Sharpest direction change between consecutive segments [deg], and how many exceed
         * 30 deg.
         *
         * `foldsInResult` uses the smoother's own detector, whose threshold reports only a
         * reversal of 90 deg or more. The folds reported from the robot are small ones, and
         * the harm they do downstream -- a collapsing spline tangent in the reparametrization
         * -- grows continuously with the turn rather than switching on at 90 deg. Recording
         * the angle directly lets a sweep be read without inheriting that threshold.
         */
        float sharpestTurnDeg{0.F};
 
        int sharpTurns{0};
 
        /// The same, measured on the raw grid-search output before resampling and smoothing.
        float sharpestGridTurnDeg{0.F};
 
        /**
         * Total turning along the path [deg] -- the sum of the absolute direction change at
         * every interior waypoint.
         *
         * The sharpest single turn says how bad the worst corner is; this says how much the
         * path wanders overall. A path can have no severe corner and still be visibly ragged,
         * and that is what the robot feels: every direction change is a lateral acceleration.
         */
        float totalTurningDeg{0.F};
 
        /// Mean absolute direction change per interior waypoint [deg].
        float meanTurnDeg{0.F};
 
        /// Longest / shortest segment. 1.0 is perfectly even; large values mean bunching.
        float spacingRatio{1.F};
 
        /// Straight-line distance divided by path length. 1.0 is a straight run.
        float directness{0.F};
    };
 
    /// One JSON object per line, so a sweep streams to disk and can be diffed across revisions.
    void writeRecord(std::ostream& out, const Record& record);
 
    /**
     * @brief Aggregate over a sweep, grouped by request kind.
     *
     * @param checkerClearance The clearance [mm] the trajectory checker enforces, used to
     *        separate requests the smoother could never have satisfied from ones it failed.
     */
    std::string summarize(const std::vector<Record>& records, float checkerClearance);
 
    /// Measure a planning result against the costmap.
    Record measure(const Request& request,
                   const std::optional<global_planning::GlobalPlannerResult>& result,
                   const algorithms::Costmap& costmap,
                   float plannedSeconds);
 
} // namespace armarx::navigation::evaluation