From a34a831fb157e79b0ca84032e9856b7f55f74f9d Mon Sep 17 00:00:00 2001
From: andreadelprete <andre.delprete@gmail.com>
Date: Fri, 30 Oct 2015 17:30:30 +0100
Subject: [PATCH] Fix problem in performance of PP algorithm: most of the time
was taken by a print that I removed. Now the time of PP is between 1 and 2
ms, which is what I expected.
---
src/static_equilibrium.cpp | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/src/static_equilibrium.cpp b/src/static_equilibrium.cpp
index d7697a3..de7fe96 100644
--- a/src/static_equilibrium.cpp
+++ b/src/static_equilibrium.cpp
@@ -5,6 +5,7 @@
#include <robust-equilibrium-lib/static_equilibrium.hh>
#include <robust-equilibrium-lib/logger.hh>
+#include <robust-equilibrium-lib/stop-watch.hh>
#include <iostream>
#include <vector>
@@ -274,15 +275,23 @@ double StaticEquilibrium::findExtremumInDirection(Cref_vector2 direction, double
bool StaticEquilibrium::computePolytopeProjection(Cref_matrix6X v)
{
+// getProfiler().start("eigen_to_cdd");
dd_MatrixPtr V = cone_span_eigen_to_cdd(v.transpose());
+// getProfiler().stop("eigen_to_cdd");
+
dd_ErrorType error = dd_NoError;
+
+// getProfiler().start("dd_DDMatrix2Poly");
dd_PolyhedraPtr H_= dd_DDMatrix2Poly(V, &error);
+// getProfiler().stop("dd_DDMatrix2Poly");
+
if(error != dd_NoError)
{
SEND_ERROR_MSG("numerical instability in cddlib. ill formed polytope");
return false;
}
+// getProfiler().start("cdd to eigen");
dd_MatrixPtr b_A = dd_CopyInequalities(H_);
// get equalities and add them as complementary inequality constraints
std::vector<long> eq_rows;
@@ -292,7 +301,6 @@ bool StaticEquilibrium::computePolytopeProjection(Cref_matrix6X v)
eq_rows.push_back(elem);
}
int rowsize = (int)b_A->rowsize;
- SEND_DEBUG_MSG("Inequality matrix has "+toString(rowsize)+" rows and "+toString(b_A->colsize-1)+" columns");
m_H.resize(rowsize + eq_rows.size(), (int)b_A->colsize-1);
m_h.resize(rowsize + eq_rows.size());
for(int i=0; i < rowsize; ++i)
@@ -307,6 +315,7 @@ bool StaticEquilibrium::computePolytopeProjection(Cref_matrix6X v)
m_h(rowsize + i) = -m_h((int)(*cit));
m_H(rowsize + i) = -m_H((int)(*cit));
}
+// getProfiler().stop("cdd to eigen");
return true;
}
--
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