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Use batch mode in step_benchmark_test.

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d8880e9a12 introduced measuring performance of a fixed batch of 50 steps, with a fixed starting state.
The Google Benchmark library has a more direct API for doing this, which ends up with nicer looking reported numbers.

PiperOrigin-RevId: 454133316
Change-Id: I368b985dc871084b9ed8c41a87016408719b53ad
This commit is contained in:
Nimrod Gileadi
2022-06-10 04:21:38 -07:00
committed by Copybara-Service
parent d90d50629b
commit 5ac797965c
1 changed files with 2 additions and 2 deletions
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test/benchmark/step_benchmark_test.cc
+2 -2
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@@ -84,7 +84,7 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
std::vector<mjtNum> warmstart = AsVector(data->qacc_warmstart, model->nv); std::vector<mjtNum> warmstart = AsVector(data->qacc_warmstart, model->nv);
// reset state, benchmark subsequent kNumBenchmarkSteps steps // reset state, benchmark subsequent kNumBenchmarkSteps steps
for (auto s : state) { while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
mju_copy(data->qpos, qpos.data(), model->nq); mju_copy(data->qpos, qpos.data(), model->nq);
mju_copy(data->qvel, qvel.data(), model->nv); mju_copy(data->qvel, qvel.data(), model->nv);
mju_copy(data->act, act.data(), model->na); mju_copy(data->act, act.data(), model->na);
@@ -98,7 +98,7 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
// finalize // finalize
mj_deleteData(data); mj_deleteData(data);
state.SetItemsProcessed(kNumBenchmarkSteps * state.iterations()); state.SetItemsProcessed(state.iterations());
} }
// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear // Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear