update cabot_navigation2/test/README.md and run_test.py to add descri…

…ption of metric evaluation Signed-off-by: Masayuki Murata <[email protected]>
CMU-cabot · Feb 22, 2024 · e7bc047 · e7bc047
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diff --git a/cabot_navigation2/test/README.md b/cabot_navigation2/test/README.md
@@ -77,6 +77,22 @@ func test_name(tester: Tester)
     - `condition` : pyton snipet to check if the `msg` matches the condition
 - `wait` : wait for seconds
     - `seconds` : wait time in seconds
+- `set_evaluation_parameters(metrics=[], robot_radius=None)` : set parameters used for computing metrics
+    - `metrics : Optional[list], default=[]` : list of metric functions to be computed. The callable functions are defined in [evaluation_metrics.py](evaluation_metrics.py).
+        - Example
+            ```
+            metrics=[
+                "total_time",
+                "robot_path_length",
+                "time_not_moving",
+                "avg_robot_linear_speed",
+                "cumulative_heading_changes"
+            ]
+            ```
+        - Note: The implementation of the metric functions is not stable as it is under development.
+    - `robot_radius : Optional[float], default=None` : robot radius used to detect collisions in metric computation. If not defined, the default value (0.45) defined in the pedestrian plugin will be used.
+- `start_evaluation` : start computing the metrics. This method should be called when ready to start the navigation.
+- `stop_evaluation` : stop computing the metrics. It is usually not necessary to call this method because it is automatically called when the test ends.
 
 ---
 **old one with run_test_yaml.py**

diff --git a/cabot_navigation2/test/run_test.py b/cabot_navigation2/test/run_test.py
@@ -239,12 +239,37 @@ def info(self, text):
 
     # evaluation
     def set_evaluation_parameters(self, **kwargs):
+        """
+        Set parameters used for computing metrics
+
+        Parameters are defined as EvaluationParameter dataclass in evaluator module
+
+        Parameters
+        ----------
+        metrics: Optional[list] = []
+            List of metric functions to be computed. The callable functions are defined in evaluation_metrics.py
+
+        robot_radius: Optional[float] = None
+            The robot radius used to detect collisions in the metric computation.
+            If not defined, the default value (0.45) defined in the pedestrian plugin is used.
+        """
         self.evaluator.set_evaluation_parameters(**kwargs)
 
     def start_evaluation(self):
+        """
+        Start computing the metrics
+
+        This method should be called when ready to start the navigation
+        """
         self.evaluator.start()
 
     def stop_evaluation(self):
+        """
+        Stop comuting the metrics
+
+        It is usually not necessary to call this method because it is automatically called when the test ends.
+        This method can be used when the user intentionally stops the metric computation
+        """
         self.evaluator.stop()
 
     # shorthand functions