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Print arena memory usage in testspeed

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PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
This commit is contained in:
Yuval Tassa
2024-11-06 04:49:45 -08:00
committed by Copybara-Service
parent 276f5b04cd
commit a2a0b95de0
1 changed files with 12 additions and 3 deletions
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sample/testspeed.cc
+12 -3
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@@ -186,13 +186,19 @@ int main(int argc, char** argv) {
mjcb_time = gettm;
// print start
std::printf("\nRolling out %d steps%s, at dt = %g",
std::printf("\nRolling out %d steps%s at dt = %g",
nstep,
nthread > 1 ? " per thread" : "",
m->opt.timestep);
// print precision
if (sizeof(mjtNum) == 4) {
std::printf(", using single-precision");
std::printf(", using single precision");
} else {
std::printf(", using double precision");
}
// print threadpool size
if (npoolthread > 1) {
std::printf(", using %d threads", npoolthread);
}
@@ -231,7 +237,10 @@ int main(int argc, char** argv) {
std::printf(" Time per step : %.1f %ss\n\n", 1e6*simtime[0]/nstep, mu_str);
std::printf(" Contacts per step : %.2f\n", static_cast<float>(contacts[0])/nstep);
std::printf(" Constraints per step : %.2f\n", static_cast<float>(constraints[0])/nstep);
std::printf(" Degrees of freedom : %d\n\n", m->nv);
std::printf(" Degrees of freedom : %d\n", m->nv);
std::printf(" Memory usage : %.1f%% of %s\n\n",
100 * d[0]->maxuse_arena / (double)(d[0]->narena),
mju_writeNumBytes(d[0]->narena));
// profiler, top-level
printf(" Internal profiler%s, %ss per step\n", nthread > 1 ? " for thread 0" : "", mu_str);