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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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test/fixture.cc
+15 -10
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@@ -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