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Print solver and solver iterations in testspeed

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PiperOrigin-RevId: 703995960
Change-Id: I9cebcf9e8d29803033ae56991acad4678d8138af
This commit is contained in:
Yuval Tassa
2024-12-08 06:00:23 -08:00
committed by Copybara-Service
parent c1d97d4a22
commit f7f1c84a1e
1 changed files with 21 additions and 4 deletions
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sample/testspeed.cc
+21 -4
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@@ -30,10 +30,10 @@ const int maxthread = 512;
mjModel* m = NULL;
mjData* d[maxthread];
// per-thread statistics
int contacts[maxthread];
int constraints[maxthread];
mjtNum iterations[maxthread];
mjtNum simtime[maxthread];
// timer
@@ -84,6 +84,7 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
// clear statistics
contacts[id] = 0;
constraints[id] = 0;
iterations[id] = 0;
// run and time
mjtNum start = gettm();
@@ -97,6 +98,16 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
// accumulate statistics
contacts[id] += d[id]->ncon;
constraints[id] += d[id]->nefc;
int nisland = d[id]->solver_nisland;
if (nisland == 1) {
iterations[id] += d[id]->solver_niter[0];
} else {
mjtNum niter = 0;
for (int j=0; j < nisland; j++) {
niter += d[id]->solver_niter[j];
}
iterations[id] += niter / nisland;
}
}
simtime[id] = 1e-6 * (gettm() - start);
}
@@ -230,15 +241,21 @@ int main(int argc, char** argv) {
std::printf("Details for thread 0\n\n");
}
// solver names indexed by mjtSolver
const char* solver[] = {"PGS", "CG", "Newton"};
const char* solto6[] = {" ", " ", ""}; // complete to 6 characters
// details for thread 0
std::printf(" Simulation time : %.2f s\n", simtime[0]);
std::printf(" Steps per second : %.0f\n", nstep/simtime[0]);
std::printf(" Realtime factor : %.2f x\n", nstep*m->opt.timestep/simtime[0]);
std::printf(" Time per step : %.1f %ss\n\n", 1e6*simtime[0]/nstep, mu_str);
std::printf(" Contacts per step : %.2f\n", static_cast<float>(contacts[0])/nstep);
std::printf(" Constraints per step : %.2f\n", static_cast<float>(constraints[0])/nstep);
std::printf(" %s iters / step %s: %.2f\n",
solver[m->opt.solver], solto6[m->opt.solver], iterations[0]/nstep);
std::printf(" Contacts / step : %.2f\n", static_cast<float>(contacts[0])/nstep);
std::printf(" Constraints / step : %.2f\n", static_cast<float>(constraints[0])/nstep);
std::printf(" Degrees of freedom : %d\n", m->nv);
std::printf(" Memory usage : %.1f%% of %s\n\n",
std::printf(" Dynamic memory usage : %.1f%% of %s\n\n",
100 * d[0]->maxuse_arena / (double)(d[0]->narena),
mju_writeNumBytes(d[0]->narena));