chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Improve component printout in testspeed

Browse Source 
PiperOrigin-RevId: 572610538
Change-Id: I28745840e457ccef7276c3d37ecf3055d0f594da
This commit is contained in:
Yuval Tassa
2023-10-11 10:11:39 -07:00
committed by Copybara-Service
parent 2842245ca9
commit bad6bee64f
1 changed files with 35 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sample/testspeed.cc
+35 -6
View File
@@ -247,27 +247,56 @@ int main(int argc, char** argv) {
std::printf(" Constraints per step : %.2f\n", static_cast<float>(constraints[0])/nstep);
std::printf(" Degrees of freedom : %d\n\n", m->nv);
// profiler results
// profiler, top-level
printf(" Internal profiler%s, %ss per step\n", nthread > 1 ? " for thread 0" : "", mu_str);
mjtNum tstep = d[0]->timer[mjTIMER_STEP].duration/d[0]->timer[mjTIMER_STEP].number;
mjtNum components = 0, total = 0;
for (int i=0; i < mjNTIMER; i++) {
for (int i=0; i <= mjTIMER_ADVANCE; i++) {
if (d[0]->timer[i].number > 0) {
mjtNum istep = d[0]->timer[i].duration/d[0]->timer[i].number;
std::printf(" %16s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[i], istep, 100*istep/tstep);
std::printf(" %17s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[i], istep, 100*istep/tstep);
// save step time, add up timing of components
if (i == 0) total = istep;
if (i >= mjTIMER_POSITION && i <= mjTIMER_ADVANCE) {
if (i >= mjTIMER_POSITION) {
components += istep;
}
}
}
// compute "other" (computation not covered by timers)
// "other" (computation not covered by timers)
if (tstep > 0) {
mjtNum other = total - components;
std::printf(" %16s : %6.1f (%6.2f %%)\n", "other", other, 100*other/tstep);
std::printf(" %17s : %6.1f (%6.2f %%)\n", "other", other, 100*other/tstep);
}
std::printf("\n");
// mjTIMER_POSITION and its components
for (int i : {mjTIMER_POSITION,
mjTIMER_POS_KINEMATICS,
mjTIMER_POS_INERTIA,
mjTIMER_POS_COLLISION,
mjTIMER_POS_MAKE,
mjTIMER_POS_PROJECT}) {
if (d[0]->timer[i].number > 0) {
mjtNum istep = d[0]->timer[i].duration/d[0]->timer[i].number;
if (i == mjTIMER_POSITION) {
std::printf(" position total : %6.1f (%6.2f %%)\n", istep, 100*istep/tstep);
} else {
std::printf(" %-10s : %6.1f (%6.2f %%)\n",
mjTIMERSTRING[i]+4, istep, 100*istep/tstep);
}
}
// components of mjTIMER_POS_COLLISION
if (i == mjTIMER_POS_COLLISION) {
for (int j : {mjTIMER_COL_BROAD, mjTIMER_COL_MID, mjTIMER_COL_NARROW}) {
mjtNum jstep = d[0]->timer[j].duration/d[0]->timer[j].number;
std::printf(" %-11s : %6.1f (%6.2f %%)\n",
mjTIMERSTRING[j]+4, jstep, 100*jstep/tstep);
}
}
}