Created
December 6, 2018 03:09
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#include <pathfinder.h> | |
#include "benchmark/benchmark.h" | |
static void BM_BenchmarkPathfinder(benchmark::State &state) { | |
Waypoint points[2]; | |
points[0] = Waypoint{2, 2, 0}; | |
points[1] = Waypoint{5, 5, d2r(45)}; | |
double loop_time = 1.0 / static_cast<double>(state.range(0)); | |
int num_iter = 0; | |
int num_gens = 0; | |
double realtime = 0; | |
for (auto _ : state) { | |
state.PauseTiming(); | |
TrajectoryCandidate candidate; | |
state.ResumeTiming(); | |
pathfinder_prepare(points, 2, FIT_HERMITE_CUBIC, PATHFINDER_SAMPLES_LOW, loop_time, 3.3, 5, 60, &candidate); | |
state.PauseTiming(); | |
Segment *traj = (Segment *)malloc(candidate.length * sizeof(Segment)); | |
Segment *left = (Segment *)malloc(candidate.length * sizeof(Segment)); | |
Segment *right = (Segment *)malloc(candidate.length * sizeof(Segment)); | |
state.ResumeTiming(); | |
pathfinder_generate(&candidate, traj); | |
pathfinder_modify_tank(traj, candidate.length, left, right, 0.5); | |
num_gens += candidate.length; | |
realtime += candidate.length * loop_time; | |
num_iter++; | |
} | |
state.counters["NumStates"] = num_gens / num_iter; | |
state.counters["LoopDt"] = loop_time; | |
state.counters["MPExecTime"] = realtime / num_iter; | |
} | |
BENCHMARK(BM_BenchmarkPathfinder)->Arg(10)->Arg(100)->Arg(1000)->Unit(benchmark::kMillisecond); | |
BENCHMARK_MAIN(); |
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