Update tesseract_environment benchmarks

tesseract-robotics · Jan 6, 2025 · a701488 · a701488
1 parent ebcddc6
commit a701488
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Showing 3 changed files with 14 additions and 14 deletions.
diff --git a/tesseract_environment/test/benchmarks/check_trajectory_benchmarks.cpp b/tesseract_environment/test/benchmarks/check_trajectory_benchmarks.cpp
@@ -67,7 +67,7 @@ static void BM_CHECK_TRAJECTORY_CONTINUOUS_SS(benchmark::State& state,
 static void BM_CHECK_TRAJECTORY_CONTINUOUS_MANIP(benchmark::State& state,
                                                  std::vector<tesseract_collision::ContactResultMap> contacts,
                                                  tesseract_collision::ContinuousContactManager::Ptr manager,
-                                                 tesseract_kinematics::JointGroup::Ptr manip,
+                                                 tesseract_kinematics::JointGroup::ConstPtr manip,
                                                  tesseract_common::TrajArray traj,
                                                  tesseract_collision::CollisionCheckConfig config,
                                                  bool log_level_debug)
@@ -106,7 +106,7 @@ static void BM_CHECK_TRAJECTORY_DISCRETE_SS(benchmark::State& state,
 static void BM_CHECK_TRAJECTORY_DISCRETE_MANIP(benchmark::State& state,
                                                std::vector<tesseract_collision::ContactResultMap> contacts,
                                                tesseract_collision::DiscreteContactManager::Ptr manager,
-                                               tesseract_kinematics::JointGroup::Ptr manip,
+                                               tesseract_kinematics::JointGroup::ConstPtr manip,
                                                tesseract_common::TrajArray traj,
                                                tesseract_collision::CollisionCheckConfig config,
                                                bool log_level_debug)
@@ -223,7 +223,7 @@ int main(int argc, char** argv)
   tesseract_collision::DiscreteContactManager::Ptr discrete_manager = env->getDiscreteContactManager();
   tesseract_collision::ContinuousContactManager::Ptr continuous_manager = env->getContinuousContactManager();
   tesseract_scene_graph::StateSolver::Ptr state_solver = env->getStateSolver();
-  tesseract_kinematics::JointGroup::Ptr joint_group = env->getJointGroup("manipulator");
+  tesseract_kinematics::JointGroup::ConstPtr joint_group = env->getJointGroup("manipulator");
   std::vector<tesseract_collision::ContactResultMap> contacts;
   tesseract_collision::CollisionCheckConfig discrete_config;
   discrete_config.type = CollisionEvaluatorType::DISCRETE;
@@ -255,7 +255,7 @@ int main(int argc, char** argv)
     std::function<void(benchmark::State&,
                        std::vector<tesseract_collision::ContactResultMap>,
                        tesseract_collision::ContinuousContactManager::Ptr,
-                       tesseract_kinematics::JointGroup::Ptr,
+                       tesseract_kinematics::JointGroup::ConstPtr,
                        tesseract_common::TrajArray,
                        tesseract_collision::CollisionCheckConfig,
                        bool)>
@@ -272,7 +272,7 @@ int main(int argc, char** argv)
     std::function<void(benchmark::State&,
                        std::vector<tesseract_collision::ContactResultMap>,
                        tesseract_collision::DiscreteContactManager::Ptr,
-                       tesseract_kinematics::JointGroup::Ptr,
+                       tesseract_kinematics::JointGroup::ConstPtr,
                        tesseract_common::TrajArray,
                        tesseract_collision::CollisionCheckConfig,
                        bool)>

diff --git a/tesseract_environment/test/benchmarks/environment_clone_benchmarks.cpp b/tesseract_environment/test/benchmarks/environment_clone_benchmarks.cpp
@@ -67,7 +67,7 @@ static void BM_SCENE_GRAPH_CLONE(benchmark::State& state, SceneGraph::Ptr sg)
 }
 
 /** @brief Benchmark that checks the Tesseract clone method*/
-static void BM_JOINT_GROUP_COPY(benchmark::State& state, JointGroup::Ptr jg)
+static void BM_JOINT_GROUP_COPY(benchmark::State& state, JointGroup::ConstPtr jg)
 {
   JointGroup::Ptr clone;
   for (auto _ : state)
@@ -76,7 +76,7 @@ static void BM_JOINT_GROUP_COPY(benchmark::State& state, JointGroup::Ptr jg)
   }
 }
 
-static void BM_KINEMATIC_GROUP_COPY(benchmark::State& state, KinematicGroup::Ptr kg)
+static void BM_KINEMATIC_GROUP_COPY(benchmark::State& state, KinematicGroup::ConstPtr kg)
 {
   KinematicGroup::Ptr clone;
   for (auto _ : state)
@@ -93,8 +93,8 @@ int main(int argc, char** argv)
   Environment::Ptr env = std::make_shared<Environment>();
   env->init(*scene_graph, srdf);
   StateSolver::Ptr state_solver = env->getStateSolver();
-  JointGroup::Ptr joint_group = env->getJointGroup("manipulator");
-  KinematicGroup::Ptr kinematic_group = env->getKinematicGroup("manipulator");
+  JointGroup::ConstPtr joint_group = env->getJointGroup("manipulator");
+  KinematicGroup::ConstPtr kinematic_group = env->getKinematicGroup("manipulator");
   //////////////////////////////////////
   // Clone
   //////////////////////////////////////
@@ -124,15 +124,15 @@ int main(int argc, char** argv)
   }
 
   {
-    std::function<void(benchmark::State&, JointGroup::Ptr)> BM_CLONE_FUNC = BM_JOINT_GROUP_COPY;
+    std::function<void(benchmark::State&, JointGroup::ConstPtr)> BM_CLONE_FUNC = BM_JOINT_GROUP_COPY;
     std::string name = "BM_JOINT_GROUP_COPY";
     benchmark::RegisterBenchmark(name.c_str(), BM_CLONE_FUNC, joint_group)
         ->UseRealTime()
         ->Unit(benchmark::TimeUnit::kMicrosecond);
   }
 
   {
-    std::function<void(benchmark::State&, KinematicGroup::Ptr)> BM_CLONE_FUNC = BM_KINEMATIC_GROUP_COPY;
+    std::function<void(benchmark::State&, KinematicGroup::ConstPtr)> BM_CLONE_FUNC = BM_KINEMATIC_GROUP_COPY;
     std::string name = "BM_KINEMATIC_GROUP_COPY";
     benchmark::RegisterBenchmark(name.c_str(), BM_CLONE_FUNC, kinematic_group)
         ->UseRealTime()

diff --git a/tesseract_environment/test/benchmarks/kinematics_benchmarks.cpp b/tesseract_environment/test/benchmarks/kinematics_benchmarks.cpp
@@ -93,7 +93,7 @@ static void BM_CALC_FWD_KIN_MANIP(benchmark::State& state, CalcStateFn fn, const
 }
 
 static void BM_GET_JACOBIAN_MANIP(benchmark::State& state,
-                                  tesseract_kinematics::JointGroup::Ptr manip,
+                                  tesseract_kinematics::JointGroup::ConstPtr manip,
                                   const tesseract_common::TrajArray& traj,
                                   std::string link_name)
 {
@@ -158,7 +158,7 @@ int main(int argc, char** argv)
     traj.col(i) = Eigen::VectorXd::LinSpaced(5, joint_start_pos(i), joint_end_pos(i));
 
   tesseract_scene_graph::StateSolver::Ptr state_solver = env->getStateSolver();
-  tesseract_kinematics::JointGroup::Ptr joint_group = env->getJointGroup("manipulator");
+  tesseract_kinematics::JointGroup::ConstPtr joint_group = env->getJointGroup("manipulator");
   std::string tip_link{ "tool0" };
 
   //////////////////////////////////////
@@ -220,7 +220,7 @@ int main(int argc, char** argv)
   }
   {
     std::function<void(
-        benchmark::State&, tesseract_kinematics::JointGroup::Ptr, const tesseract_common::TrajArray&, std::string)>
+        benchmark::State&, tesseract_kinematics::JointGroup::ConstPtr, const tesseract_common::TrajArray&, std::string)>
         BM_CJ_MANIP = BM_GET_JACOBIAN_MANIP;
     std::string name = "BM_GET_JACOBIAN_MANIP";
     benchmark::RegisterBenchmark(name.c_str(), BM_CJ_MANIP, joint_group, traj, tip_link)