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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// A benchmark for comparing different implementations of engine_util_spatial methods.
#include <benchmark/benchmark.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/base/attributes.h>
#include <mujoco/mjdata.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_util_blas.h"
#include "src/engine/engine_util_spatial.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
// ------------- quaternion-vector rotation ----------------------------
void BM_RotVecQuat(benchmark::State& state) {
MujocoErrorTestGuard guard;
// Create axis-angle and convert to a quaternion
mjtNum quat[4];
const mjtNum angle = 33 * mjPI / 180;
mjtNum vec[] = {0.2672612419124244, 0.5345224838248488, 0.8017837257372732};
mju_axisAngle2Quat(quat, vec, angle);
for (auto s : state) {
mjtNum result[3];
mju_rotVecQuat(result, vec, quat);
benchmark::DoNotOptimize(result);
}
state.SetItemsProcessed(state.iterations());
}
BENCHMARK(BM_RotVecQuat);
} // namespace
} // namespace mujoco
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