From c8087b5318c7e383d08ca71a3a75387109422b56 Mon Sep 17 00:00:00 2001
From: Prateek Machiraju <prateek.machiraju@gmail.com>
Date: Fri, 28 Jun 2019 13:51:33 -0400
Subject: [PATCH] Add vector benchmarks

---
 src/bench/bench_vector_creation.cpp | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 src/bench/bench_vector_creation.cpp

diff --git a/src/bench/bench_vector_creation.cpp b/src/bench/bench_vector_creation.cpp
new file mode 100644
index 0000000..cc9a42d
--- /dev/null
+++ b/src/bench/bench_vector_creation.cpp
@@ -0,0 +1,37 @@
+#include <benchmark/benchmark.h>
+#include <vector>
+#include "FalconLibrary.h"
+
+static constexpr int kVectorSize = 500;
+
+template <typename S>
+struct ConstrainedPose {
+  S      state;
+  double distance         = 0.0;
+  double max_velocity     = 0.0;
+  double min_acceleration = 0.0;
+  double max_acceleration = 0.0;
+};
+
+static void BM_VectorReserveAndPushBack(benchmark::State& state) {
+  for (auto _ : state) {
+    std::vector<ConstrainedPose<fl::Pose2dWithCurvature>> vector;
+    vector.reserve(kVectorSize);
+
+    for (int i = 0; i < kVectorSize; i++) {
+      vector.push_back({fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i, 1.0 * i});
+    }
+  }
+}
+
+static void BM_VectorConstructor(benchmark::State& state) {
+  for (auto _ : state) {
+    std::vector<ConstrainedPose<fl::Pose2dWithCurvature>> vector{kVectorSize};
+    for (int i = 0; i < kVectorSize; i++) {
+      vector[i] = {fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i, 1.0 * i};
+    }
+  }
+}
+
+BENCHMARK(BM_VectorReserveAndPushBack)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);
+BENCHMARK(BM_VectorConstructor)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);
\ No newline at end of file