Update tesseract_collision benchmarks (#868)

tesseract-robotics · Mar 21, 2023 · 729d339 · 729d339
1 parent dd348a9
commit 729d339
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Showing 6 changed files with 22 additions and 19 deletions.
diff --git a/...ract_collision/core/include/tesseract_collision/test_suite/benchmarks/benchmark_utils.hpp b/...ract_collision/core/include/tesseract_collision/test_suite/benchmarks/benchmark_utils.hpp
@@ -38,5 +38,5 @@ inline tesseract_geometry::Geometry::Ptr CreateUnitPrimative(const tesseract_geo
       break;
   }
   return geom;
-};
+}
 #endif
diff --git a/...ollision/core/include/tesseract_collision/test_suite/benchmarks/primatives_benchmarks.hpp b/...ollision/core/include/tesseract_collision/test_suite/benchmarks/primatives_benchmarks.hpp
@@ -56,7 +56,7 @@ static void BM_CLONE(benchmark::State& state, DiscreteBenchmarkInfo info, std::s
   {
     benchmark::DoNotOptimize(clone = info.contact_manager_->clone());
   }
-};
+}
 
 /** @brief Benchmark that checks the contactTest function in discrete contact managers*/
 static void BM_CONTACT_TEST(benchmark::State& state, DiscreteBenchmarkInfo info)  // NOLINT
@@ -73,7 +73,7 @@ static void BM_CONTACT_TEST(benchmark::State& state, DiscreteBenchmarkInfo info)
     result.clear();
     info.contact_manager_->contactTest(result, ContactRequest(info.contact_test_type_));
   }
-};
+}
 
 /** @brief Benchmark that checks how long it takes to select a random object so that number can be subtracted from other
  * benchmarks if that is important*/
@@ -84,7 +84,7 @@ static void BM_SELECT_RANDOM_OBJECT(benchmark::State& state, int num_obj)
   {
     benchmark::DoNotOptimize(selected_link = rand() % num_obj);  // NOLINT
   }
-};
+}
 
 /** @brief Benchmark that checks the setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d&
  * pose) method in discrete contact managers*/
@@ -111,7 +111,7 @@ static void BM_SET_COLLISION_OBJECTS_TRANSFORM_SINGLE(benchmark::State& state,
     std::size_t selected_link = static_cast<std::size_t>(rand()) % num_obj;
     info.contact_manager_->setCollisionObjectsTransform(active_obj[selected_link], info.obj2_poses[0]);
   }
-};
+}
 
 /** @brief Benchmark that checks the setCollisionObjectsTransform(const std::vector<std::string>& names, const
    tesseract_common::VectorIsometry3d& poses) method in discrete contact managers. Moves only a single random link*/
@@ -139,7 +139,7 @@ static void BM_SET_COLLISION_OBJECTS_TRANSFORM_VECTOR(benchmark::State& state,
     selected_links[0] = active_obj[static_cast<std::size_t>(rand()) % num_obj];
     info.contact_manager_->setCollisionObjectsTransform(selected_links, info.obj2_poses);
   }
-};
+}
 
 /** @brief Benchmark that checks the setCollisionObjectsTransform(const tesseract_common::TransformMap& transforms)
  * method in discrete contact managers. Moves only a single random link*/
@@ -163,10 +163,11 @@ static void BM_SET_COLLISION_OBJECTS_TRANSFORM_MAP(benchmark::State& state,
   {
     // Including this seems necessary to insure that a distribution of links is used rather than always searching for
     // the same one. It might be worth it to manually time these as well if it's really important
+    selected_link.clear();  // Need to clear or this grows and is not releastic to compare to vector version
     selected_link[active_obj[static_cast<std::size_t>(rand()) % num_obj]] = info.obj2_poses[0];
     info.contact_manager_->setCollisionObjectsTransform(selected_link);
   }
-};
+}
 
 }  // namespace test_suite
 }  // namespace tesseract_collision

diff --git a/tesseract_collision/test/benchmarks/bullet_discrete_bvh_benchmarks.cpp b/tesseract_collision/test/benchmarks/bullet_discrete_bvh_benchmarks.cpp
@@ -234,7 +234,7 @@ int main(int argc, char** argv)
                                    edge_size,
                                    tesseract_geometry::GeometryType::CONVEX_MESH)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -244,7 +244,7 @@ int main(int argc, char** argv)
       benchmark::RegisterBenchmark(
           name.c_str(), BM_LARGE_DATASET_MULTILINK_FUNC, clone, edge_size, tesseract_geometry::GeometryType::SPHERE)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -270,7 +270,7 @@ int main(int argc, char** argv)
                                    edge_size,
                                    tesseract_geometry::GeometryType::CONVEX_MESH)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -280,7 +280,7 @@ int main(int argc, char** argv)
       benchmark::RegisterBenchmark(
           name.c_str(), BM_LARGE_DATASET_SINGLELINK_FUNC, clone, edge_size, tesseract_geometry::GeometryType::SPHERE)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {

diff --git a/tesseract_collision/test/benchmarks/bullet_discrete_simple_benchmarks.cpp b/tesseract_collision/test/benchmarks/bullet_discrete_simple_benchmarks.cpp
@@ -233,7 +233,7 @@ int main(int argc, char** argv)
                                    edge_size,
                                    tesseract_geometry::GeometryType::CONVEX_MESH)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -243,7 +243,7 @@ int main(int argc, char** argv)
       benchmark::RegisterBenchmark(
           name.c_str(), BM_LARGE_DATASET_MULTILINK_FUNC, clone, edge_size, tesseract_geometry::GeometryType::SPHERE)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -269,7 +269,7 @@ int main(int argc, char** argv)
                                    edge_size,
                                    tesseract_geometry::GeometryType::CONVEX_MESH)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -279,7 +279,7 @@ int main(int argc, char** argv)
       benchmark::RegisterBenchmark(
           name.c_str(), BM_LARGE_DATASET_SINGLELINK_FUNC, clone, edge_size, tesseract_geometry::GeometryType::SPHERE)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {

diff --git a/tesseract_collision/test/benchmarks/collision_profile.cpp b/tesseract_collision/test/benchmarks/collision_profile.cpp
@@ -12,6 +12,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/bullet/convex_hull_utils.h>
 #include <tesseract_collision/fcl/fcl_discrete_managers.h>
 
+#include <tesseract_geometry/impl/sphere.h>
+
 static const std::size_t DIM = 10;
 
 using namespace tesseract_collision;

diff --git a/tesseract_collision/test/benchmarks/fcl_discrete_bvh_benchmarks.cpp b/tesseract_collision/test/benchmarks/fcl_discrete_bvh_benchmarks.cpp
@@ -243,7 +243,7 @@ int main(int argc, char** argv)
                                    edge_size,
                                    tesseract_geometry::GeometryType::CONVEX_MESH)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -253,7 +253,7 @@ int main(int argc, char** argv)
       benchmark::RegisterBenchmark(
           name.c_str(), BM_LARGE_DATASET_MULTILINK_FUNC, clone, edge_size, tesseract_geometry::GeometryType::SPHERE)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     // These last two took 45s and 120s. Too long to run in CI, and impractical for our purposes anyway.
     if (RUN_QUICK)
@@ -285,7 +285,7 @@ int main(int argc, char** argv)
                                    edge_size,
                                    tesseract_geometry::GeometryType::CONVEX_MESH)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
@@ -295,7 +295,7 @@ int main(int argc, char** argv)
       benchmark::RegisterBenchmark(
           name.c_str(), BM_LARGE_DATASET_SINGLELINK_FUNC, clone, edge_size, tesseract_geometry::GeometryType::SPHERE)
           ->UseRealTime()
-          ->Unit(benchmark::TimeUnit::kMillisecond);
+          ->Unit(benchmark::TimeUnit::kNanosecond);
     }
     for (const auto& edge_size : edge_sizes)
     {
-Original file line number
+Diff line change
@@ Expand Up @@
           break;
       }
       return geom;
-    };
+    }
     #endif