text: #!/usr/bin/env python
  
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  # Author: Mark Moll, Ioan Sucan, Luis G. Torres
  
  import os
  import sqlite3
  import sys
  import argparse
  # Pathlib is part of the standard library in Python 3, but for Python2 you
  # may have to `apt install python-pathlib2` or `pip install pathlib2`
  from pathlib import Path
  from warnings import warn
  plottingEnabled = True
  try:
      import matplotlib
      matplotlib.use('pdf')
      from matplotlib.backends.backend_pdf import PdfPages
      from matplotlib.cm import viridis
      import matplotlib.pyplot as plt
      import numpy as np
      from math import floor
  except ImportError:
      print('Matplotlib or Numpy was not found; disabling plotting capabilities...')
      plottingEnabled = False
  
  # Given a text line, split it into tokens (by space) and return the token
  # at the desired index. Additionally, test that some expected tokens exist.
  # Return None if they do not.
  def readLogValue(filevar, desired_token_index, expected_tokens):
      start_pos = filevar.tell()
      tokens = filevar.readline().split()
      if expected_tokens:
          for token_index in expected_tokens:
              if not tokens[token_index] == expected_tokens[token_index]:
                  # undo the read, if we failed to parse.
                  filevar.seek(start_pos)
                  return None
      return tokens[desired_token_index]
  
  def readOptionalLogValue(filevar, desired_token_index, expected_tokens=None):
      return readLogValue(filevar, desired_token_index, expected_tokens)
  
  def readRequiredLogValue(name, filevar, desired_token_index, expected_tokens=None):
      result = readLogValue(filevar, desired_token_index, expected_tokens)
      if result is None:
          raise Exception("Unable to read " + name)
      return result
  
  def ensurePrefix(line, prefix):
      if not line.startswith(prefix):
          raise Exception("Expected prefix " + prefix + " was not found")
      return line
  
  def readOptionalMultilineValue(filevar):
      start_pos = filevar.tell()
      line = filevar.readline()
      if not line.startswith("<<<|"):
          filevar.seek(start_pos)
          return None
      value = ''
      line = filevar.readline()
      while not line.startswith('|>>>'):
          value = value + line
          line = filevar.readline()
          if line is None:
              raise Exception("Expected token |>>> missing")
      return value
  
  def readRequiredMultilineValue(filevar):
      ensurePrefix(filevar.readline(), "<<<|")
      value = ''
      line = filevar.readline()
      while not line.startswith('|>>>'):
          value = value + line
          line = filevar.readline()
          if line is None:
              raise Exception("Expected token |>>> missing")
      return value
  
  
  def readBenchmarkLog(dbname, filenames, moveitformat):
      """Parse benchmark log files and store the parsed data in a sqlite3 database."""
  
      conn = sqlite3.connect(dbname)
      if sys.version_info[0] < 3:
          conn.text_factory = lambda x: unicode(x, 'utf-8', 'ignore')
      c = conn.cursor()
      c.execute('PRAGMA FOREIGN_KEYS = ON')
  
      # create all tables if they don't already exist
      c.executescript("""CREATE TABLE IF NOT EXISTS experiments
          (id INTEGER PRIMARY KEY AUTOINCREMENT, name VARCHAR(512),
          totaltime REAL, timelimit REAL, memorylimit REAL, runcount INTEGER,
          version VARCHAR(128), hostname VARCHAR(1024), cpuinfo TEXT,
          date DATETIME, seed VARCHAR(24), setup TEXT);
          CREATE TABLE IF NOT EXISTS plannerConfigs
          (id INTEGER PRIMARY KEY AUTOINCREMENT,
          name VARCHAR(512) NOT NULL, settings TEXT);
          CREATE TABLE IF NOT EXISTS enums
          (name VARCHAR(512), value INTEGER, description TEXT,
          PRIMARY KEY (name, value));
          CREATE TABLE IF NOT EXISTS runs
          (id INTEGER PRIMARY KEY AUTOINCREMENT, experimentid INTEGER, plannerid INTEGER,
          FOREIGN KEY (experimentid) REFERENCES experiments(id) ON DELETE CASCADE,
          FOREIGN KEY (plannerid) REFERENCES plannerConfigs(id) ON DELETE CASCADE);
          CREATE TABLE IF NOT EXISTS progress
          (runid INTEGER, time REAL, PRIMARY KEY (runid, time),
          FOREIGN KEY (runid) REFERENCES runs(id) ON DELETE CASCADE)""")
  
      for filename in filenames:
          print('Processing ' + filename)
          logfile = open(filename, 'r')
          start_pos = logfile.tell()
          libname = readOptionalLogValue(logfile, 0, {1 : "version"})
          if libname is None:
              libname = "OMPL"
          logfile.seek(start_pos)
          version = readOptionalLogValue(logfile, -1, {1 : "version"})
          if version is None:
              # set the version number to make Planner Arena happy
              version = "0.0.0"
          version = ' '.join([libname, version])
          expname = readRequiredLogValue("experiment name", logfile, -1, {0 : "Experiment"})
  
          # optional experiment properties
          nrexpprops = int(readOptionalLogValue(logfile, 0, \
              {-2: "experiment", -1: "properties"}) or 0)
          expprops = {}
          for _ in range(nrexpprops):
              entry = logfile.readline().strip().split(' = ')
              nameAndType = entry[0].split(' ')
              expprops[''.join(nameAndType[:-1]).replace('-', '_')] = (entry[1], nameAndType[-1])
  
          # adding columns to experiments table
          c.execute('PRAGMA table_info(experiments)')
          columnNames = [col[1] for col in c.fetchall()]
          for name in sorted(expprops.keys()):
              # only add column if it doesn't exist
              if name not in columnNames:
                  c.execute('ALTER TABLE experiments ADD %s %s' % (name, expprops[name][1]))
  
          hostname = readRequiredLogValue("hostname", logfile, -1, {0 : "Running"})
          date = ' '.join(ensurePrefix(logfile.readline(), "Starting").split()[2:])
          if moveitformat:
              expsetup = readRequiredLogValue("goal name", logfile, -1, {0: "Goal", 1: "name"})
              cpuinfo = None
              rseed = '0'
              timelimit = float(readRequiredLogValue("time limit", logfile, 0, \
                  {-3 : "seconds", -2 : "per", -1 : "run"}))
              memorylimit = 0
          else:
              expsetup = readRequiredMultilineValue(logfile)
              cpuinfo = readOptionalMultilineValue(logfile)
              rseed = readRequiredLogValue("random seed", logfile, 0, \
                  {-2 : "random", -1 : "seed"})
              timelimit = float(readRequiredLogValue("time limit", logfile, 0, \
                  {-3 : "seconds", -2 : "per", -1 : "run"}))
              memorylimit = float(readRequiredLogValue("memory limit", logfile, 0, \
                  {-3 : "MB", -2 : "per", -1 : "run"}))
          nrrunsOrNone = readOptionalLogValue(logfile, 0, \
              {-3 : "runs", -2 : "per", -1 : "planner"})
          nrruns = -1
          if nrrunsOrNone is not None:
              nrruns = int(nrrunsOrNone)
          totaltime = float(readRequiredLogValue("total time", logfile, 0, \
              {-3 : "collect", -2 : "the", -1 : "data"}))
          numEnums = 0
          numEnumsOrNone = readOptionalLogValue(logfile, 0, {-2 : "enum"})
          if numEnumsOrNone is not None:
              numEnums = int(numEnumsOrNone)
          for _ in range(numEnums):
              enum = logfile.readline()[:-1].split('|')
              c.execute('SELECT * FROM enums WHERE name IS "%s"' % enum[0])
              if c.fetchone() is None:
                  for j in range(len(enum) - 1):
                      c.execute('INSERT INTO enums VALUES (?,?,?)', \
                          (enum[0], j, enum[j + 1]))
  
          # Creating entry in experiments table
          expColNames = ['name', 'totaltime', 'timelimit', 'memorylimit', 'runcount', 'version',
                         'hostname', 'cpuinfo', 'date', 'seed', 'setup']
          experimentEntries = [expname, totaltime, timelimit, memorylimit, nrruns, version,
                               hostname, cpuinfo, date, rseed, expsetup]
          expProps = expprops.keys()
          expColNames += expProps
          experimentEntries += [expprops[name][0] for name in expProps]
          c.execute('INSERT INTO experiments (' + ','.join(expColNames) + ') VALUES (' +
                    ','.join('?'*len(experimentEntries)) + ')', experimentEntries)
          experimentId = c.lastrowid
  
          numPlanners = int(readRequiredLogValue("planner count", logfile, 0, {-1 : "planners"}))
          for _ in range(numPlanners):
              plannerName = logfile.readline()[:-1]
              print('Parsing data for ' + plannerName)
  
              # read common data for planner
              numCommon = int(logfile.readline().split()[0])
              settings = ''
              for j in range(numCommon):
                  settings = settings + logfile.readline() + ';'
  
              # find planner id
              c.execute('SELECT id FROM plannerConfigs WHERE (name=? AND settings=?)', \
                  (plannerName, settings,))
              p = c.fetchone()
              if p is None:
                  c.execute('INSERT INTO plannerConfigs VALUES (?,?,?)', \
                      (None, plannerName, settings,))
                  plannerId = c.lastrowid
              else:
                  plannerId = p[0]
  
              # get current column names
              c.execute('PRAGMA table_info(runs)')
              columnNames = [col[1] for col in c.fetchall()]
  
              # read properties and add columns as necessary
              numProperties = int(logfile.readline().split()[0])
              propertyNames = ['experimentid', 'plannerid']
              for j in range(numProperties):
                  field = logfile.readline().split()
                  propertyType = field[-1]
                  propertyName = '_'.join(field[:-1])
                  if propertyName not in columnNames:
                      c.execute('ALTER TABLE runs ADD %s %s' % (propertyName, propertyType))
                  propertyNames.append(propertyName)
              # read measurements
              insertFmtStr = 'INSERT INTO runs (' + ','.join(propertyNames) + \
                  ') VALUES (' + ','.join('?'*len(propertyNames)) + ')'
              numRuns = int(logfile.readline().split()[0])
              runIds = []
              for j in range(numRuns):
                  values = tuple([experimentId, plannerId] + \
                      [None if not x or x == 'nan' or x == 'inf' else x \
                      for x in logfile.readline().split('; ')[:-1]])
  
                  c.execute(insertFmtStr, values)
                  # extract primary key of each run row so we can reference them
                  # in the planner progress data table if needed
                  runIds.append(c.lastrowid)
  
              nextLine = logfile.readline().strip()
  
              # read planner progress data if it's supplied
              if nextLine != '.':
                  # get current column names
                  c.execute('PRAGMA table_info(progress)')
                  columnNames = [col[1] for col in c.fetchall()]
  
                  # read progress properties and add columns as necesary
                  numProgressProperties = int(nextLine.split()[0])
                  progressPropertyNames = ['runid']
                  for _ in range(numProgressProperties):
                      field = logfile.readline().split()
                      progressPropertyType = field[-1]
                      progressPropertyName = "_".join(field[:-1])
                      if progressPropertyName not in columnNames:
                          c.execute('ALTER TABLE progress ADD %s %s' % \
                              (progressPropertyName, progressPropertyType))
                      progressPropertyNames.append(progressPropertyName)
                  # read progress measurements
                  insertFmtStr = 'INSERT INTO progress (' + \
                      ','.join(progressPropertyNames) + ') VALUES (' + \
                      ','.join('?'*len(progressPropertyNames)) + ')'
                  numRuns = int(logfile.readline().split()[0])
                  for j in range(numRuns):
                      dataSeries = logfile.readline().split(';')[:-1]
                      for dataSample in dataSeries:
                          values = tuple([runIds[j]] + \
                              [None if not x or x == 'nan' or x == 'inf' else x \
                              for x in dataSample.split(',')[:-1]])
                          try:
                              c.execute(insertFmtStr, values)
                          except sqlite3.IntegrityError:
                              print('Ignoring duplicate progress data. Consider increasing '
                                    'ompl::tools::Benchmark::Request::timeBetweenUpdates.')
  
                  logfile.readline()
          logfile.close()
      conn.commit()
      c.close()
  
  def plotAttribute(cur, planners, attribute, typename):
      """Create a plot for a particular attribute. It will include data for
      all planners that have data for this attribute."""
      labels = []
      measurements = []
      nanCounts = []
      if typename == 'ENUM':
          cur.execute('SELECT description FROM enums where name IS "%s"' % attribute)
          descriptions = [t[0] for t in cur.fetchall()]
          numValues = len(descriptions)
      for planner in planners:
          cur.execute('SELECT %s FROM runs WHERE plannerid = %s AND %s IS NOT NULL' \
              % (attribute, planner[0], attribute))
          measurement = [t[0] for t in cur.fetchall() if t[0] is not None]
          if measurement:
              cur.execute('SELECT count(*) FROM runs WHERE plannerid = %s AND %s IS NULL' \
                  % (planner[0], attribute))
              nanCounts.append(cur.fetchone()[0])
              labels.append(planner[1])
              if typename == 'ENUM':
                  scale = 100. / len(measurement)
                  measurements.append([measurement.count(i)*scale for i in range(numValues)])
              else:
                  measurements.append(measurement)
  
      if not measurements:
          print('Skipping "%s": no available measurements' % attribute)
          return
  
      plt.clf()
      ax = plt.gca()
      if typename == 'ENUM':
          width = .5
          measurements = np.transpose(np.vstack(measurements))
          colsum = np.sum(measurements, axis=1)
          rows = np.where(colsum != 0)[0]
          heights = np.zeros((1, measurements.shape[1]))
          ind = range(measurements.shape[1])
          for i in rows:
              plt.bar(ind, measurements[i], width, bottom=heights[0], \
                  color=viridis(int(floor(i * 256 / numValues))), \
                  label=descriptions[i])
              heights = heights + measurements[i]
          xtickNames = plt.xticks([x+width/2. for x in ind], labels, rotation=30)
          ax.set_ylabel(attribute.replace('_', ' ') + ' (%)')
          box = ax.get_position()
          ax.set_position([box.x0, box.y0, box.width * 0.8, box.height])
          props = matplotlib.font_manager.FontProperties()
          props.set_size('small')
          ax.legend(loc='center left', bbox_to_anchor=(1, 0.5), prop=props)
      elif typename == 'BOOLEAN':
          width = .5
          measurementsPercentage = [sum(m) * 100. / len(m) for m in measurements]
          ind = range(len(measurements))
          plt.bar(ind, measurementsPercentage, width)
          xtickNames = plt.xticks([x + width / 2. for x in ind], labels, rotation=30)
          ax.set_ylabel(attribute.replace('_', ' ') + ' (%)')
      else:
          plt.boxplot(measurements, notch=0, sym='k+', vert=1, whis=1.5, bootstrap=1000)
          ax.set_ylabel(attribute.replace('_', ' '))
          xtickNames = plt.setp(ax, xticklabels=labels)
          plt.setp(xtickNames, rotation=25)
      ax.set_xlabel('Motion planning algorithm')
      ax.yaxis.grid(True, linestyle='-', which='major', color='lightgrey', alpha=0.5)
      if max(nanCounts) > 0:
          maxy = max([max(y) for y in measurements])
          for i in range(len(labels)):
              x = i + width / 2 if typename == 'BOOLEAN' else i + 1
              ax.text(x, .95*maxy, str(nanCounts[i]), horizontalalignment='center', size='small')
  
  def plotProgressAttribute(cur, planners, attribute):
      """Plot data for a single planner progress attribute. Will create an
  average time-plot with error bars of the attribute over all runs for
  each planner."""
  
      import numpy.ma as ma
  
      plt.clf()
      ax = plt.gca()
      ax.set_xlabel('time (s)')
      ax.set_ylabel(attribute.replace('_', ' '))
      plannerNames = []
      for planner in planners:
          cur.execute("""SELECT count(progress.%s) FROM progress INNER JOIN runs
              ON progress.runid = runs.id AND runs.plannerid=%s
              AND progress.%s IS NOT NULL""" \
              % (attribute, planner[0], attribute))
          if cur.fetchone()[0] > 0:
              plannerNames.append(planner[1])
              cur.execute("""SELECT DISTINCT progress.runid FROM progress INNER JOIN runs
              WHERE progress.runid=runs.id AND runs.plannerid=?""", (planner[0],))
              runids = [t[0] for t in cur.fetchall()]
              timeTable = []
              dataTable = []
              for r in runids:
                  # Select data for given run
                  cur.execute('SELECT time, %s FROM progress WHERE runid = %s ORDER BY time' % \
                      (attribute, r))
                  (time, data) = zip(*(cur.fetchall()))
                  timeTable.append(time)
                  dataTable.append(data)
              # It's conceivable that the sampling process may have
              # generated more samples for one run than another; in this
              # case, truncate all data series to length of shortest
              # one.
              fewestSamples = min(len(time[:]) for time in timeTable)
              times = np.array(timeTable[0][:fewestSamples])
              dataArrays = np.array([data[:fewestSamples] for data in dataTable])
              filteredData = ma.masked_array(dataArrays, np.equal(dataArrays, None), dtype=float)
  
              means = np.mean(filteredData, axis=0)
              stddevs = np.std(filteredData, axis=0, ddof=1)
  
              # plot average with error bars
              plt.errorbar(times, means, yerr=2*stddevs, errorevery=max(1, len(times) // 20))
              ax.legend(plannerNames)
  
  def plotStatistics(dbname):
      """Create a PDF file with box plots for all attributes."""
      warn('\n\n\tThis functionality is considered deprecated and might be removed '
           'in a future version.\n\tConsider using Planner Arena, '
           'http://plannerarena.org.\n')
      print("Generating plots...")
      conn = sqlite3.connect(dbname)
      c = conn.cursor()
      c.execute('PRAGMA FOREIGN_KEYS = ON')
      c.execute('SELECT id, name FROM plannerConfigs')
      planners = [(t[0], t[1].replace('geometric_', '').replace('control_', '')) \
          for t in c.fetchall()]
      c.execute('PRAGMA table_info(runs)')
      colInfo = c.fetchall()[3:]
  
      # the str() call is needed for backwards compatibility with python2
      with PdfPages(str(Path(dbname).with_suffix('.pdf'))) as pp:
          for col in colInfo:
              if col[2] == 'BOOLEAN' or col[2] == 'ENUM' or \
                 col[2] == 'INTEGER' or col[2] == 'REAL':
                  plotAttribute(c, planners, col[1], col[2])
                  pp.savefig(plt.gcf())
  
          c.execute('PRAGMA table_info(progress)')
          colInfo = c.fetchall()[2:]
          for col in colInfo:
              plotProgressAttribute(c, planners, col[1])
              pp.savefig(plt.gcf())
          plt.clf()
  
          pagey = 0.9
          pagex = 0.06
          c.execute("""SELECT id, name, timelimit, memorylimit FROM experiments""")
          experiments = c.fetchall()
          for experiment in experiments:
              c.execute("""SELECT count(*) FROM runs WHERE runs.experimentid = %d
                  GROUP BY runs.plannerid""" % experiment[0])
              numRuns = [run[0] for run in c.fetchall()]
              print(numRuns)
              numRuns = str(numRuns[0]) if len(set(numRuns)) == 1 else ','.join([str(i) for i in numRuns])
  
              plt.figtext(pagex, pagey, 'Experiment "%s"' % experiment[1])
              plt.figtext(pagex, pagey-0.05, 'Number of averaged runs: %s' % numRuns)
              plt.figtext(pagex, pagey-0.10, "Time limit per run: %g seconds" % experiment[2])
              plt.figtext(pagex, pagey-0.15, "Memory limit per run: %g MB" % experiment[3])
  
          pp.savefig(plt.gcf())
  
  def saveAsMysql(dbname):
      # See http://stackoverflow.com/questions/1067060/perl-to-python
      import re
      print("Saving as MySQL dump file...")
  
      conn = sqlite3.connect(dbname)
      with open(Path(dbname).with_suffix('.mysql'), 'w') as mysqldump:
          # make sure all tables are dropped in an order that keepd foreign keys valid
          c = conn.cursor()
          c.execute("SELECT name FROM sqlite_master WHERE type='table'")
          table_names = [str(t[0]) for t in c.fetchall()]
          c.close()
          last = ['experiments', 'planner_configs']
          for table in table_names:
              if table.startswith("sqlite"):
                  continue
              if not table in last:
                  mysqldump.write("DROP TABLE IF EXISTS `%s`;\n" % table)
          for table in last:
              if table in table_names:
                  mysqldump.write("DROP TABLE IF EXISTS `%s`;\n" % table)
  
          for line in conn.iterdump():
              process = False
              for nope in ('BEGIN TRANSACTION', 'COMMIT', \
                  'sqlite_sequence', 'CREATE UNIQUE INDEX', 'CREATE VIEW'):
                  if nope in line:
                      break
              else:
                  process = True
              if not process:
                  continue
              line = re.sub(r"[\n\r\t ]+", " ", line)
              m = re.search('CREATE TABLE ([a-zA-Z0-9_]*)(.*)', line)
              if m:
                  name, sub = m.groups()
                  sub = sub.replace('"', '`')
                  line = '''CREATE TABLE IF NOT EXISTS %(name)s%(sub)s'''
                  line = line % dict(name=name, sub=sub)
                  # make sure we use an engine that supports foreign keys
                  line = line.rstrip("\n\t ;") + " ENGINE = InnoDB;\n"
              else:
                  m = re.search('INSERT INTO "([a-zA-Z0-9_]*)"(.*)', line)
                  if m:
                      line = 'INSERT INTO %s%s\n' % m.groups()
                      line = line.replace('"', r'\"')
                      line = line.replace('"', "'")
  
              line = re.sub(r"([^'])'t'(.)", "\\1THIS_IS_TRUE\\2", line)
              line = line.replace('THIS_IS_TRUE', '1')
              line = re.sub(r"([^'])'f'(.)", "\\1THIS_IS_FALSE\\2", line)
              line = line.replace('THIS_IS_FALSE', '0')
              line = line.replace('AUTOINCREMENT', 'AUTO_INCREMENT')
              mysqldump.write(line)
  
  def computeViews(dbname, moveitformat):
      conn = sqlite3.connect(dbname)
      c = conn.cursor()
      c.execute('PRAGMA FOREIGN_KEYS = ON')
      c.execute('PRAGMA table_info(runs)')
      if moveitformat:
          s0 = """SELECT plannerid, plannerConfigs.name AS plannerName, experimentid,
              solved, total_time
              FROM plannerConfigs INNER JOIN experiments INNER JOIN runs
              ON plannerConfigs.id=runs.plannerid AND experiments.id=runs.experimentid"""
      # kinodynamic paths cannot be simplified (or least not easily),
      # so simplification_time may not exist as a database column
      elif 'simplification_time' in [col[1] for col in c.fetchall()]:
          s0 = """SELECT plannerid, plannerConfigs.name AS plannerName, experimentid,
              solved, time + simplification_time AS total_time
              FROM plannerConfigs INNER JOIN experiments INNER JOIN runs
              ON plannerConfigs.id=runs.plannerid AND experiments.id=runs.experimentid"""
      else:
          s0 = """SELECT plannerid, plannerConfigs.name AS plannerName, experimentid,
              solved, time AS total_time
              FROM plannerConfigs INNER JOIN experiments INNER JOIN runs
              ON plannerConfigs.id=runs.plannerid AND experiments.id=runs.experimentid"""
      s1 = """SELECT plannerid, plannerName, experimentid, AVG(solved) AS avg_solved,
          AVG(total_time) AS avg_total_time
          FROM (%s) GROUP BY plannerid, experimentid""" % s0
      s2 = """SELECT plannerid, experimentid, MIN(avg_solved) AS avg_solved, avg_total_time
          FROM (%s) GROUP BY plannerName, experimentid ORDER BY avg_solved DESC,
          avg_total_time ASC""" % s1
      c.execute('DROP VIEW IF EXISTS bestPlannerConfigsPerExperiment')
      c.execute('CREATE VIEW IF NOT EXISTS bestPlannerConfigsPerExperiment AS %s' % s2)
  
      s1 = """SELECT plannerid, plannerName, AVG(solved) AS avg_solved,
          AVG(total_time) AS avg_total_time
          FROM (%s) GROUP BY plannerid""" % s0
      s2 = """SELECT plannerid, MIN(avg_solved) AS avg_solved, avg_total_time
          FROM (%s) GROUP BY plannerName ORDER BY avg_solved DESC, avg_total_time ASC""" % s1
      c.execute('DROP VIEW IF EXISTS bestPlannerConfigs')
      c.execute('CREATE VIEW IF NOT EXISTS bestPlannerConfigs AS %s' % s2)
  
      conn.commit()
      c.close()
  
  if __name__ == '__main__':
      parser = argparse.ArgumentParser(
          description='Process benchmark logs and create an SQLite3 database.')
      parser.add_argument('-d', '--database', default='benchmark.db', \
          help='Filename of benchmark database')
      parser.add_argument('-a', '--append', action='store_true', default=False, \
          help='Append data to database (as opposed to overwriting an existing database)')
      parser.add_argument('-v', '--view', action='store_true', default=False, \
          help='Compute the views for best planner configurations')
      if plottingEnabled:
          parser.add_argument('-p', '--plot', action='store_true', default=False, \
              help='Create a PDF of plots')
      parser.add_argument('-m', '--mysql', action='store_true', default=False, \
          help='Save SQLite3 database as a MySQL dump file')
      parser.add_argument('--moveit', action='store_true', default=False, \
          help='Log files are produced by MoveIt!')
      parser.add_argument('logfile', nargs='*')
      args = parser.parse_args()
  
      if not args.append and Path(args.database).exists() and args.logfile:
          Path(args.database).unlink()
  
      if args.logfile:
          readBenchmarkLog(args.database, args.logfile, args.moveit)
          # If we update the database, we recompute the views as well
          args.view = True
  
      if args.view:
          computeViews(args.database, args.moveit)
  
      if plottingEnabled and args.plot:
          plotStatistics(args.database)
  
      if args.mysql:
          saveAsMysql(args.database)
  