From 97a889e429d82d44ab0ec4f1dabcd6b98a60bfe0 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 15 Nov 2019 17:27:53 +0100
Subject: [PATCH] [Test] Reduce execution time of unit tests in debug mode.
---
test/collision.cpp | 11 +++++++++++
test/distance.cpp | 10 ++++++++--
test/frontlist.cpp | 8 +++++---
test/obb.cpp | 7 +++++++
test/octree.cpp | 7 +++++++
test/profiling.cpp | 4 ++++
test/utility.cpp | 9 +++++++++
test/utility.h | 3 +++
8 files changed, 54 insertions(+), 5 deletions(-)
diff --git a/test/collision.cpp b/test/collision.cpp
index 655ab790..da4655f6 100644
--- a/test/collision.cpp
+++ b/test/collision.cpp
@@ -63,6 +63,7 @@
#include "fcl_resources/config.h"
using namespace hpp::fcl;
+namespace utf = boost::unit_test::framework;
int num_max_contacts = std::numeric_limits<int>::max();
@@ -587,7 +588,12 @@ BOOST_AUTO_TEST_CASE(mesh_mesh)
{
std::vector<Transform3f> transforms;
FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+#ifndef NDEBUG // if debug mode
+ std::size_t n = 1;
+#else
std::size_t n = 10;
+#endif
+ n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
generateRandomTransforms(extents, transforms, n);
@@ -609,7 +615,12 @@ BOOST_AUTO_TEST_CASE(mesh_mesh_benchmark)
{
std::vector<Transform3f> transforms;
FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+#ifndef NDEBUG
+ std::size_t n = 0;
+#else
std::size_t n = 10;
+#endif
+ n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
generateRandomTransforms(extents, transforms, n);
diff --git a/test/distance.cpp b/test/distance.cpp
index dc4c2489..f575a49a 100644
--- a/test/distance.cpp
+++ b/test/distance.cpp
@@ -51,6 +51,7 @@
#include "fcl_resources/config.h"
using namespace hpp::fcl;
+namespace utf = boost::unit_test::framework;
bool verbose = false;
FCL_REAL DELTA = 0.001;
@@ -96,7 +97,12 @@ BOOST_AUTO_TEST_CASE(mesh_distance)
std::vector<Transform3f> transforms; // t0
FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+#ifndef NDEBUG // if debug mode
+ std::size_t n = 1;
+#else
std::size_t n = 10;
+#endif
+ n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
generateRandomTransforms(extents, transforms, n);
@@ -323,8 +329,8 @@ BOOST_AUTO_TEST_CASE(mesh_distance)
}
- std::cout << "distance timing: " << dis_time << " sec" << std::endl;
- std::cout << "collision timing: " << col_time << " sec" << std::endl;
+ BOOST_TEST_MESSAGE("distance timing: " << dis_time << " sec");
+ BOOST_TEST_MESSAGE("collision timing: " << col_time << " sec");
}
template<typename BV, typename TraversalNode>
diff --git a/test/frontlist.cpp b/test/frontlist.cpp
index 9762d69b..6862d883 100644
--- a/test/frontlist.cpp
+++ b/test/frontlist.cpp
@@ -51,6 +51,7 @@
#include <boost/filesystem.hpp>
using namespace hpp::fcl;
+namespace utf = boost::unit_test::framework;
template<typename BV>
bool collide_front_list_Test(const Transform3f& tf1, const Transform3f& tf2,
@@ -84,11 +85,12 @@ BOOST_AUTO_TEST_CASE(front_list)
std::vector<Transform3f> transforms2; // t1
FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
FCL_REAL delta_trans[] = {1, 1, 1};
-#ifdef NDEBUG
- std::size_t n = 20;
+#ifndef NDEBUG // if debug mode
+ std::size_t n = 2;
#else
- std::size_t n = 5;
+ std::size_t n = 20;
#endif
+ n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
bool verbose = false;
generateRandomTransforms(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n);
diff --git a/test/obb.cpp b/test/obb.cpp
index fb4bd9a5..9b27360a 100644
--- a/test/obb.cpp
+++ b/test/obb.cpp
@@ -45,6 +45,7 @@
#include "../src/BV/OBB.h"
#include "../src/distance_func_matrix.h"
+#include "utility.h"
using namespace hpp::fcl;
@@ -1331,9 +1332,15 @@ std::size_t obb_overlap_and_lower_bound_distance(std::ostream* output)
Vec3f T;
CollisionRequest request;
+#ifndef NDEBUG // if debug mode
+ static const size_t nbRandomOBB = 10;
+ static const size_t nbTransformPerOBB = 10;
+ static const size_t nbRunForTimeMeas = 10;
+#else
static const size_t nbRandomOBB = 100;
static const size_t nbTransformPerOBB = 100;
static const size_t nbRunForTimeMeas = 1000;
+#endif
static const FCL_REAL extentNorm = 1.;
if (output != NULL) *output << BenchmarkResult::headers << '\n';
diff --git a/test/octree.cpp b/test/octree.cpp
index 5632a496..135f19c0 100644
--- a/test/octree.cpp
+++ b/test/octree.cpp
@@ -49,6 +49,8 @@
#include "utility.h"
#include "fcl_resources/config.h"
+namespace utf = boost::unit_test::framework;
+
using hpp::fcl::Vec3f;
using hpp::fcl::Triangle;
using hpp::fcl::OBBRSS;
@@ -136,7 +138,12 @@ BOOST_AUTO_TEST_CASE (OCTREE)
std::vector<Transform3f> transforms;
FCL_REAL extents[] = {-2000, -2000, 0, 2000, 2000, 2000};
+#ifndef NDEBUG // if debug mode
+ std::size_t N = 100;
+#else
std::size_t N = 10000;
+#endif
+ N = hpp::fcl::getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, N);
generateRandomTransforms(extents, transforms, 2*N);
diff --git a/test/profiling.cpp b/test/profiling.cpp
index 2e96e4c8..16623c79 100644
--- a/test/profiling.cpp
+++ b/test/profiling.cpp
@@ -120,7 +120,11 @@ void printResults (const Geometry& g1, const Geometry& g2, const Results& rs)
std::cout << g1.type << sep << g2.type << sep << mean << sep << std::sqrt(var) << sep << rs.times.minCoeff() << sep << rs.times.maxCoeff() << std::endl;
}
+#ifndef NDEBUG // if debug mode
+int Ntransform = 1;
+#else
int Ntransform = 100;
+#endif
FCL_REAL limit = 20;
bool verbose = false;
diff --git a/test/utility.cpp b/test/utility.cpp
index a107faf8..ca0debf7 100644
--- a/test/utility.cpp
+++ b/test/utility.cpp
@@ -444,6 +444,15 @@ std::ostream& operator<< (std::ostream& os, const Transform3f& tf)
<< " ]" ;
}
+std::size_t getNbRun (const int& argc, char const* const* argv, std::size_t defaultValue)
+{
+ for (int i = 0; i < argc; ++i)
+ if (strcmp(argv[i], "--nb-run") == 0)
+ if (i+1 != argc)
+ return (std::size_t)strtol(argv[i+1], NULL, 10);
+ return defaultValue;
+}
+
}
} // namespace hpp
diff --git a/test/utility.h b/test/utility.h
index dcefa684..97b3b335 100644
--- a/test/utility.h
+++ b/test/utility.h
@@ -178,6 +178,9 @@ Quaternion3f makeQuat(FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z);
std::ostream& operator<< (std::ostream& os, const Transform3f& tf);
+/// Get the argument --nb-run from argv
+std::size_t getNbRun (const int& argc, char const* const* argv, std::size_t defaultValue);
+
}
} // namespace hpp
--
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