Commit 13722bf4 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Add a test to measure time of computations in distance computations.

parent e0c4e226
......@@ -47,7 +47,10 @@ CONFIG_FILES (
body-positions-mesh.cc
interbody-distances-mesh.cc
interbody-distances-capsule.cc
interbody-distance-time-of-computation.cc
)
ADD_TESTCASE (body-positions-mesh TRUE)
ADD_TESTCASE (interbody-distances-mesh TRUE)
ADD_TESTCASE (interbody-distances-capsule TRUE)
ADD_TESTCASE (interbody-distance-time-of-computation TRUE)
// Copyright (C) 2014, 2014 LAAS-CNRS
// Author: Florent Lamiraux
//
// This file is part of the test-hpp.
//
// test-hpp is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// test-hpp is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with test-hpp. If not, see <http://www.gnu.org/licenses/>.
#include <sstream>
#include <ostream>
#include <fstream>
#include <vector>
#include <Eigen/Core>
#include <fcl/shape/geometric_shapes.h>
#include <hpp/util/debug.hh>
#include <hpp/model/body.hh>
#include <hpp/model/collision-object.hh>
#include <hpp/model/device.hh>
#include <hpp/model/joint.hh>
#include <hpp/model/urdf/util.hh>
#define BOOST_TEST_MODULE forward_kinematics
#include <boost/test/included/unit_test.hpp>
typedef boost::shared_ptr <const fcl::Capsule> CapsuleConstPtr_t;
typedef hpp::model::matrix_t::Scalar value_type;
typedef hpp::model::CollisionObjectPtr_t CollisionObjectPtr_t;
typedef hpp::model::vector3_t vector3_t;
typedef hpp::model::DistanceResult DistanceResult_t;
typedef hpp::model::Transform3f Transform3f;
typedef hpp::model::vector3_t vector3_t;
BOOST_AUTO_TEST_SUITE( test_suite )
BOOST_AUTO_TEST_CASE (interbody_distances_time_of_computation)
{
using hpp::model::Device;
using hpp::model::Joint;
using hpp::model::Body;
typedef hpp::model::ObjectVector_t ObjectVector_t;
typedef hpp::model::JointVector_t JointVector_t;
typedef std::vector<double> vector_t;
std::ifstream fileConfig;
vector_t::size_type configSize;
fileConfig.open ("@PROJECT_SOURCE_DIR@/data/configuration.data");
vector_t dofs;
bool eof = false;
double value;
// Read configuration file
while (!eof) {
fileConfig >> value;
if (fileConfig.fail ()) {
eof = true;
} else {
dofs.push_back (value);
}
}
fileConfig.close ();
// Load hrp2
hpp::model::HumanoidRobotPtr_t humanoidRobot =
hpp::model::HumanoidRobot::create ("hrp2_14");
hpp::model::urdf::loadHumanoidModel(humanoidRobot, "freeflyer",
"hrp2_14_description", "hrp2_14",
"_capsule", "_capsule");
configSize = humanoidRobot->configSize ();
// Check size of config
if (dofs.size () != configSize) {
std::ostringstream error;
error << "wrong configuration size: " << dofs.size ()
<< ", expecting " << configSize;
throw std::runtime_error (error.str ());
}
hpp::model::Configuration_t config (configSize);
for (vector_t::size_type i=0; i<configSize; ++i) {
config [i] = dofs [i];
}
humanoidRobot->currentConfiguration (config);
humanoidRobot->computeForwardKinematics ();
hppDout (info, *humanoidRobot);
timeval t0, t1;
gettimeofday (&t0, NULL);
for (std::size_t i=0; i<1000; ++i) {
humanoidRobot->computeDistances ();
}
gettimeofday (&t1, NULL);
double t = (t1.tv_sec - t0.tv_sec) + 1e-6*(t1.tv_usec - t0.tv_usec + 0.);
std::cout << "Time for 1000 self-collision tests in seconds: "
<< t << std::endl;
}
BOOST_AUTO_TEST_SUITE_END()
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