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

Stop profiling mju_halton in testspeed and bechmarks.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/benchmark/step_benchmark_test.cc
+7 -3
View File
@@ -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);
}
}