Add benchmarks

This commit is contained in:
Prateek Machiraju 2019-06-26 14:47:47 -04:00
parent 9ff0d55736
commit d4fc37c7a3
10 changed files with 93 additions and 3 deletions

3
.gitmodules vendored
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@ -1,3 +1,6 @@
[submodule "libs/googletest"] [submodule "libs/googletest"]
path = libs/googletest path = libs/googletest
url = https://github.com/google/googletest url = https://github.com/google/googletest
[submodule "libs/benchmark"]
path = libs/benchmark
url = https://github.com/google/benchmark

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@ -25,6 +25,31 @@ model {
} }
} }
testSuites { testSuites {
falconlibraryBench(GoogleTestTestSuiteSpec) {
testing $.components.falconlibrary
binaries.all {
if (toolChain instanceof GccCompatibleToolChain) {
linker.args << '-pthread'
} else {
// MSVC
linker.args << 'shlwapi.lib'
}
if (!project.hasProperty("withBench"))
tasks.withType(RunTestExecutable) { RunTestExecutable task ->
task.enabled = false
}
}
sources.cpp {
source {
srcDir 'src/bench'
include '**/*.cpp'
}
lib project: ':libs', library: 'googleBench', linkage: 'static'
}
}
falconlibraryTest(GoogleTestTestSuiteSpec) { falconlibraryTest(GoogleTestTestSuiteSpec) {
testing $.components.falconlibrary testing $.components.falconlibrary

1
libs/benchmark Submodule

@ -0,0 +1 @@
Subproject commit 04a9343fc9b7886591c65933b94d0cee7a915452

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@ -2,6 +2,7 @@ apply plugin: "cpp"
ext.libroot = new File(rootProject.rootDir, "libs") ext.libroot = new File(rootProject.rootDir, "libs")
ext.gtest_root = new File(libroot, "googletest/googletest") ext.gtest_root = new File(libroot, "googletest/googletest")
ext.gbench_root = new File(libroot, "benchmark")
model { model {
components { components {
@ -17,5 +18,30 @@ model {
} }
} }
} }
googleBench(NativeLibrarySpec) {
binaries.all {
if (toolChain instanceof GccCompatibleToolChain) {
cppCompiler.args << '-std=c++14' << '-Wno-deprecated-declarations'
linker.args << '-pthread'
} else {
// MSVC
cppCompiler.args << '/std:c++14'
linker.args << 'shlwapi.lib'
}
}
sources.cpp {
source {
srcDir new File(gbench_root, "src")
include "**/*.cc"
exclude "**/benchmark_main.cc"
}
exportedHeaders {
srcDirs new File(gbench_root, "src"), new File(gbench_root, "include")
include "**/*.hpp", "**/*.h"
}
lib project: ':libs', library: "googleTest", linkage: "static"
}
}
} }
} }

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@ -0,0 +1,14 @@
#include <FalconLibrary.h>
#include <benchmark/benchmark.h>
static void BM_ArcParam(benchmark::State& state) {
const frc5190::Pose2d initial{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)};
const frc5190::Pose2d final{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)};
const auto spline = std::make_shared<frc5190::ParametricQuinticHermiteSpline>(initial, final);
for (auto _ : state) {
frc5190::SplineGenerator::ParameterizeSpline(spline, 2.0, 0.05, 0.1);
}
}
BENCHMARK(BM_ArcParam)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);

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@ -0,0 +1,15 @@
#include <FalconLibrary.h>
#include <benchmark/benchmark.h>
static void BM_TrajectoryGeneration(benchmark::State& state) {
const frc5190::Pose2d initial{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)};
const frc5190::Pose2d final{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)};
for (auto _ : state) {
frc5190::TrajectoryGenerator::GenerateTrajectory(
std::vector<frc5190::Pose2d>{initial, final},
std::vector<frc5190::TimingConstraint<frc5190::Pose2dWithCurvature>*>{}, 0.0, 0.0, 3., 2., false);
}
}
BENCHMARK(BM_TrajectoryGeneration)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);

4
src/bench/main.cpp Normal file
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@ -0,0 +1,4 @@
#include <benchmark/benchmark.h>
BENCHMARK_MAIN();

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@ -1,6 +1,6 @@
#pragma once #pragma once
#include "../geometry/Pose2dWithCurvature.h"
#include "../trajectory/TimedTrajectory.h" #include "mathematics/trajectory/TimedTrajectory.h"
#include <memory> #include <memory>

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@ -1,6 +1,8 @@
#pragma once #pragma once
#include <vector> #include <vector>
#include <memory>
#include "../geometry/Pose2dWithCurvature.h" #include "../geometry/Pose2dWithCurvature.h"
#include "ParametricSpline.h" #include "ParametricSpline.h"

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@ -28,7 +28,7 @@ class TrajectoryGenerator {
} }
} }
const auto indexed_trajectory = TrajectoryFromSplineWaypoints(waypoints, 0.051, 0.00127, 0.1); const auto indexed_trajectory = TrajectoryFromSplineWaypoints(waypoints, 2.0, 0.05, 0.1);
auto points = indexed_trajectory.Points(); auto points = indexed_trajectory.Points();