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The MoveIt Motion Planning Framework for ROS 2.
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Classes | Functions | Variables
robot_state_benchmark.cpp File Reference
#include <benchmark/benchmark.h>
#include <random>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/treejnttojacsolver.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/robot_model_test_utils.h>
Include dependency graph for robot_state_benchmark.cpp:

Go to the source code of this file.

Classes

struct  RobotStateBenchmark
 

Functions

 BENCHMARK_DEFINE_F (RobotStateBenchmark, construct)(benchmark
 
 BENCHMARK_DEFINE_F (RobotStateBenchmark, copyConstruct)(benchmark
 
 BENCHMARK_DEFINE_F (RobotStateBenchmark, update)(benchmark
 
 BENCHMARK_DEFINE_F (RobotStateBenchmark, jacobianMoveIt)(benchmark
 
 BENCHMARK_DEFINE_F (RobotStateBenchmark, jacobianKDL)(benchmark
 
 BENCHMARK (multiplyAffineTimesMatrixNoAlias)
 
 BENCHMARK (multiplyMatrixTimesMatrixNoAlias)
 
 BENCHMARK (multiplyIsometryTimesIsometryNoAlias)
 
 BENCHMARK (multiplyMatrixTimesMatrix)
 
 BENCHMARK (multiplyIsometryTimesIsometry)
 
 BENCHMARK (inverseIsometry3d)
 
 BENCHMARK (inverseAffineIsometry)
 
 BENCHMARK (inverseAffine)
 
 BENCHMARK (inverseMatrix4d)
 
 RangeMultiplier (10) -> Range(100, 10000) ->Unit(benchmark::kMillisecond)
 
 BENCHMARK_REGISTER_F (RobotStateBenchmark, update) -> RangeMultiplier(10) ->Range(10, 10000) ->Unit(benchmark::kMillisecond)
 
 BENCHMARK_REGISTER_F (RobotStateBenchmark, jacobianMoveIt)
 
 BENCHMARK_REGISTER_F (RobotStateBenchmark, jacobianKDL)
 

Variables

constexpr char PANDA_TEST_ROBOT [] = "panda"
 
constexpr char PANDA_TEST_GROUP [] = "panda_arm"
 

Function Documentation

◆ BENCHMARK() [1/9]

BENCHMARK ( inverseAffine  )

◆ BENCHMARK() [2/9]

BENCHMARK ( inverseAffineIsometry  )

◆ BENCHMARK() [3/9]

BENCHMARK ( inverseIsometry3d  )

◆ BENCHMARK() [4/9]

BENCHMARK ( inverseMatrix4d  )

◆ BENCHMARK() [5/9]

BENCHMARK ( multiplyAffineTimesMatrixNoAlias  )

◆ BENCHMARK() [6/9]

BENCHMARK ( multiplyIsometryTimesIsometry  )

◆ BENCHMARK() [7/9]

BENCHMARK ( multiplyIsometryTimesIsometryNoAlias  )

◆ BENCHMARK() [8/9]

BENCHMARK ( multiplyMatrixTimesMatrix  )

◆ BENCHMARK() [9/9]

BENCHMARK ( multiplyMatrixTimesMatrixNoAlias  )

◆ BENCHMARK_DEFINE_F() [1/5]

BENCHMARK_DEFINE_F ( RobotStateBenchmark  ,
construct   
)

Definition at line 211 of file robot_state_benchmark.cpp.

◆ BENCHMARK_DEFINE_F() [2/5]

BENCHMARK_DEFINE_F ( RobotStateBenchmark  ,
copyConstruct   
)

Definition at line 222 of file robot_state_benchmark.cpp.

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◆ BENCHMARK_DEFINE_F() [3/5]

BENCHMARK_DEFINE_F ( RobotStateBenchmark  ,
jacobianKDL   
)

Definition at line 277 of file robot_state_benchmark.cpp.

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◆ BENCHMARK_DEFINE_F() [4/5]

BENCHMARK_DEFINE_F ( RobotStateBenchmark  ,
jacobianMoveIt   
)

Definition at line 252 of file robot_state_benchmark.cpp.

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◆ BENCHMARK_DEFINE_F() [5/5]

BENCHMARK_DEFINE_F ( RobotStateBenchmark  ,
update   
)

Definition at line 237 of file robot_state_benchmark.cpp.

◆ BENCHMARK_REGISTER_F() [1/3]

BENCHMARK_REGISTER_F ( RobotStateBenchmark  ,
jacobianKDL   
)

◆ BENCHMARK_REGISTER_F() [2/3]

BENCHMARK_REGISTER_F ( RobotStateBenchmark  ,
jacobianMoveIt   
)

◆ BENCHMARK_REGISTER_F() [3/3]

BENCHMARK_REGISTER_F ( RobotStateBenchmark  ,
update   
) -> RangeMultiplier(10) ->Range(10, 10000) ->Unit(benchmark::kMillisecond)

◆ RangeMultiplier()

RangeMultiplier ( 10  ) -> Range(100, 10000) ->Unit(benchmark::kMillisecond)

Variable Documentation

◆ PANDA_TEST_GROUP

constexpr char PANDA_TEST_GROUP[] = "panda_arm"
constexpr

Definition at line 50 of file robot_state_benchmark.cpp.

◆ PANDA_TEST_ROBOT

constexpr char PANDA_TEST_ROBOT[] = "panda"
constexpr

Definition at line 49 of file robot_state_benchmark.cpp.