{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pandas as pd"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Generate table entry of a single experiment."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "logfile = \"\"\n",
    "\n",
    "df = pd.read_csv(logfile)\n",
    "df = df[df.result != \"no_motion_plan_found\"]\n",
    "\n",
    "n_attempts = len(df.index)\n",
    "n_succeeded = (df.result == \"succeeded\").sum()\n",
    "n_failed = (df.result == \"failed\").sum()\n",
    "n_aborted = (df.result == \"aborted\").sum()\n",
    "\n",
    "views_mean = df.view_count.mean()\n",
    "views_std = df.view_count.std()\n",
    "\n",
    "search_time_mean = df.search_time.mean()\n",
    "search_time_std = df.search_time.std()\n",
    "\n",
    "total_time_mean = (df.search_time + df.grasp_time).mean()\n",
    "total_time_std = (df.search_time + df.grasp_time).std()\n",
    "\n",
    "print(f\"${n_succeeded / n_attempts:.2f}$ & ${n_failed / n_attempts:.2f}$ & ${n_aborted / n_attempts:.2f}$ & ${views_mean:.0f} \\pm {views_std:.0f}$ & ${search_time_mean:.2f} \\pm {search_time_std:.2f}$ & ${total_time_mean:.2f} \\pm {total_time_std:.2f}$\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Compute timings"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "view_generation = df.view_generation / df.view_count\n",
    "state_update = df.state_update / df.view_count\n",
    "tsdf_update = df.tsdf_integration / df.view_count\n",
    "grasp_prediction = df.grasp_prediction / df.view_count\n",
    "grasp_selection = df.grasp_selection / df.view_count\n",
    "ig_computation = df.ig_computation / df.view_count\n",
    "\n",
    "print(f\"View generation: {view_generation.mean():.3f}\")\n",
    "print(f\"State update: {state_update.mean():.3f}\")\n",
    "print(f\"  TSDF update: {tsdf_update.mean():.3f}\")\n",
    "print(f\"  Grasp prediction: {grasp_prediction.mean():.3f}\")\n",
    "print(f\"  Grasp selection: {grasp_selection.mean():.3f}\")\n",
    "print(f\"IG computation: {ig_computation.mean():.3f}\")\n",
    "print(\"---\")\n",
    "print(f\"Total time: {view_generation.mean() + state_update.mean() + ig_computation.mean():.3f}\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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  "kernelspec": {
   "display_name": "Python 3.8.10 64-bit ('noetic': venv)",
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
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   "file_extension": ".py",
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