Stop profiling mju_halton in testspeed and bechmarks.

PiperOrigin-RevId: 490239351
Change-Id: Id73c101672e5b974f16b6b4da3aae757a657de15

test/benchmark/step_benchmark_test.cc

@@ -42,9 +42,13 @@ std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
 static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
   mjData* data = mj_makeData(model);
 
+  // compute noise
+  int nsteps = kNumWarmupSteps+kNumBenchmarkSteps;
+  std::vector<mjtNum> ctrl = GetCtrlNoise(model, nsteps);
+
   // warm-up rollout to get a typcal state
   for (int i=0; i < kNumWarmupSteps; i++) {
-    AddCtrlNoise(model, data, i);
+    mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
     mj_step(model, data);
   }
   // save state
@@ -60,8 +64,8 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
     mju_copy(data->act, act.data(), model->na);
     mju_copy(data->qacc_warmstart, warmstart.data(), model->nv);
 
-    for (int i=0; i < kNumBenchmarkSteps; i++) {
-      AddCtrlNoise(model, data, i+kNumWarmupSteps);
+    for (int i=kNumWarmupSteps; i < nsteps; i++) {
+      mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
       mj_step(model, data);
     }
   }

test/fixture.cc

@@ -134,18 +134,23 @@ const std::string SaveAndReadXml(const mjModel* model) {
   return contents;
 }
 
-void AddCtrlNoise(const mjModel* m, mjData* d, int 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;
+std::vector<mjtNum> GetCtrlNoise(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));
     }
-    radius *= 0.01;
-    d->ctrl[i] = center + radius * (2 * mju_Halton(step, i + 2) - 1);
   }
+  return ctrl;
 }
 
 }  // namespace mujoco

test/fixture.h

@@ -62,7 +62,8 @@ mjModel* LoadModelFromPath(const char* model_path);
 const std::string SaveAndReadXml(const mjModel* model);
 
 // Adds control noise.
-void AddCtrlNoise(const mjModel* m, mjData* d, int step);
+std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
+                                 mjtNum ctrlnoise = 0.01);
 
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_FIXTURE_H_