[Test] Reduce execution time of unit tests in debug mode.

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);
 

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>

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);

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';

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);
 

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;
 

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

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