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:

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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.