Add more metrics - Githubissues

robot-motion / bench-mr

Motion Planning Benchmark

https://robot-motion.github.io/bench-mr

MIT License

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Closed palmieri closed 4 years ago

palmieri commented 4 years ago

Why? Currently we have metrics only for the final planning results. We could add additional metrics that tests the single units

What? We can measure\

collision checking time;
steering function call time; It would be useful to report what percentage of computation time is spent on collision detection and NN in each setting. This can inform and motivate work in algorithm design.

Update: -- add geometric mean -- mean curvature

palmieri commented 4 years ago

Additional metrics of interest can be:

clearance
roughness We could set experiments based on this metrics, see https://ompl.kavrakilab.org/optimizationObjectivesTutorial.html .