From 8be5af8692b824bf61b426b4bc882de32fff9ac9 Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Thu, 17 Dec 2015 15:24:25 +0100
Subject: [PATCH] [C++][Unittest] Debug unittest : now use correct
configurations vectors size
---
benchmark/timings.cpp | 20 +++++++++++++++++---
1 file changed, 17 insertions(+), 3 deletions(-)
diff --git a/benchmark/timings.cpp b/benchmark/timings.cpp
index c8ed2e0f0..49eff9da2 100644
--- a/benchmark/timings.cpp
+++ b/benchmark/timings.cpp
@@ -151,19 +151,33 @@ int main(int argc, const char ** argv)
Data romeo_data(romeo_model);
GeometryData romeo_data_geom(romeo_data, romeo_model_geom);
+ VectorXd q_romeo = VectorXd::Random(romeo_model.nq);
+ VectorXd qdot_romeo = VectorXd::Random(romeo_model.nv);
+ VectorXd qddot_romeo = VectorXd::Random(romeo_model.nv);
+
+ std::vector<VectorXd> qs_romeo (NBT);
+ std::vector<VectorXd> qdots_romeo (NBT);
+ std::vector<VectorXd> qddots_romeo (NBT);
+ for(size_t i=0;i<NBT;++i)
+ {
+ qs_romeo[i] = Eigen::VectorXd::Random(romeo_model.nq);
+ qs_romeo[i].segment<4>(3) /= qs[i].segment<4>(3).norm();
+ qdots_romeo[i] = Eigen::VectorXd::Random(romeo_model.nv);
+ qddots_romeo[i] = Eigen::VectorXd::Random(romeo_model.nv);
+ }
timer.tic();
SMOOTH(NBT)
{
- geometry(romeo_model,romeo_data,qs[_smooth]);
+ geometry(romeo_model,romeo_data,qs_romeo[_smooth]);
}
double geom_time = timer.toc(StackTicToc::US)/NBT;
timer.tic();
SMOOTH(NBT)
{
- se3::geometry(romeo_model, romeo_data, qs[_smooth]);
- updateCollisionGeometry(romeo_model,romeo_data,romeo_model_geom,romeo_data_geom,qs[_smooth]);
+ se3::geometry(romeo_model, romeo_data, qs_romeo[_smooth]);
+ updateCollisionGeometry(romeo_model,romeo_data,romeo_model_geom,romeo_data_geom,qs_romeo[_smooth]);
}
std::cout << "Update Collision Geometry = \t";
std::cout << timer.toc(StackTicToc::US)/NBT - geom_time
--
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