From 766f45452ec4812947e6a844ee6697bf67510c0c Mon Sep 17 00:00:00 2001
From: Akseppal <seppala@laas.fr>
Date: Wed, 16 Dec 2015 11:56:15 +0100
Subject: [PATCH] changed/added time counters in manipulation-planner.cc
---
src/manipulation-planner.cc | 14 ++++++++++++--
1 file changed, 12 insertions(+), 2 deletions(-)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index cdd1dfe..1057f65 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -41,6 +41,8 @@ namespace hpp {
HPP_DEFINE_TIMECOUNTER(oneStep);
HPP_DEFINE_TIMECOUNTER(extend);
HPP_DEFINE_TIMECOUNTER(tryConnect);
+ HPP_DEFINE_TIMECOUNTER(nearestNeighbor);
+ HPP_DEFINE_TIMECOUNTER(delayedEdges);
/// extend steps
HPP_DEFINE_TIMECOUNTER(chooseEdge);
HPP_DEFINE_TIMECOUNTER(applyConstraints);
@@ -106,13 +108,14 @@ namespace hpp {
// Find the nearest neighbor.
core::value_type distance;
for (itNode = graphNodes.begin (); itNode != graphNodes.end (); ++itNode) {
+ HPP_START_TIMECOUNTER(nearestNeighbor);
RoadmapNodePtr_t near = roadmap_->nearestNode (q_rand, *itcc, *itNode, distance);
+ HPP_STOP_TIMECOUNTER(nearestNeighbor);
+ HPP_DISPLAY_LAST_TIMECOUNTER(nearestNeighbor);
if (!near) continue;
HPP_START_TIMECOUNTER(extend);
bool pathIsValid = extend (near, q_rand, path);
- HPP_STOP_TIMECOUNTER(extend);
- HPP_DISPLAY_LAST_TIMECOUNTER(extend);
// Insert new path to q_near in roadmap
if (pathIsValid) {
value_type t_final = path->timeRange ().second;
@@ -129,8 +132,12 @@ namespace hpp {
}
}
+ HPP_STOP_TIMECOUNTER(extend);
+ HPP_DISPLAY_LAST_TIMECOUNTER(extend);
}
}
+
+ HPP_START_TIMECOUNTER(delayedEdges);
// Insert delayed edges
for (DelayedEdges_t::const_iterator itEdge = delayedEdges.begin ();
itEdge != delayedEdges.end (); ++itEdge) {
@@ -144,6 +151,7 @@ namespace hpp {
(core::interval_t (timeRange.second ,
timeRange.first)));
}
+ HPP_STOP_TIMECOUNTER(delayedEdges);
// Try to connect the new nodes together
HPP_START_TIMECOUNTER(tryConnect);
@@ -155,6 +163,8 @@ namespace hpp {
HPP_DISPLAY_TIMECOUNTER(oneStep);
HPP_DISPLAY_TIMECOUNTER(extend);
HPP_DISPLAY_TIMECOUNTER(tryConnect);
+ HPP_DISPLAY_TIMECOUNTER(nearestNeighbor);
+ HPP_DISPLAY_TIMECOUNTER(delayedEdges);
HPP_DISPLAY_TIMECOUNTER(chooseEdge);
HPP_DISPLAY_TIMECOUNTER(applyConstraints);
HPP_DISPLAY_TIMECOUNTER(buildPath);
--
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