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Stop profiling mju_halton in testspeed and bechmarks.

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PiperOrigin-RevId: 490239351
Change-Id: Id73c101672e5b974f16b6b4da3aae757a657de15
This commit is contained in:
Alessio Quaglino
2022-11-22 07:40:06 -08:00
committed by Copybara-Service
parent 165e72f798
commit c17375fa32
4 changed files with 49 additions and 28 deletions
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sample/testspeed.cc
+25 -14
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@@ -17,6 +17,7 @@
#include <cstring>
#include <string>
#include <thread>
#include <vector>
#include <mujoco/mujoco.h>
@@ -58,9 +59,27 @@ int finish(const char* msg = NULL, mjModel* m = NULL) {
return 0;
}
std::vector<mjtNum> CtrlNoise(const mjModel* m, int nsteps, mjtNum ctrlnoise) {
std::vector<mjtNum> ctrl;
for (int step=0; step < nsteps; step++) {
for (int i = 0; i < m->nu; i++) {
mjtNum center = 0.0;
mjtNum radius = 1.0;
mjtNum* range = m->actuator_ctrlrange + 2 * i;
if (m->actuator_ctrllimited[i]) {
center = (range[1] + range[0]) / 2;
radius = (range[1] - range[0]) / 2;
}
radius *= ctrlnoise;
ctrl.push_back(center + radius * (2 * mju_Halton(step, i+2) - 1));
}
}
return ctrl;
}
// thread function
void simulate(int id, int nstep, mjtNum ctrlnoise) {
void simulate(int id, int nstep, mjtNum* ctrl) {
// clear statistics
contacts[id] = 0;
constraints[id] = 0;
@@ -69,18 +88,7 @@ void simulate(int id, int nstep, mjtNum ctrlnoise) {
double start = gettm();
for (int i=0; i<nstep; i++) {
// inject pseuso-random control noise
if (ctrlnoise)
for (int j=0; j<m->nu; j++) {
mjtNum center = 0.0;
mjtNum radius = 1.0;
mjtNum* range = m->actuator_ctrlrange + 2*j;
if (m->actuator_ctrllimited[j]) {
center = (range[1] + range[0]) / 2;
radius = (range[1] - range[0]) / 2;
}
radius *= ctrlnoise;
d[id]->ctrl[j] = center + radius * (2*mju_Halton(i, j+2) - 1);
}
mju_copy(d[id]->ctrl, ctrl + i*m->nu, m->nu);
// advance simulation
mj_step(m, d[id]);
@@ -172,11 +180,14 @@ int main(int argc, char** argv) {
std::printf("\nRunning %d steps at dt = %g ...\n\n", nstep, m->opt.timestep);
}
// create pseudo-random control sequence
std::vector<mjtNum> ctrl = CtrlNoise(m, nstep, ctrlnoise);
// run simulation, record total time
std::thread th[maxthread];
double starttime = gettm();
for (int id=0; id<nthread; id++) {
th[id] = std::thread(simulate, id, nstep, ctrlnoise);
th[id] = std::thread(simulate, id, nstep, ctrl.data());
}
for (int id=0; id<nthread; id++) {
th[id].join();