Kevin Zakka
f8b9e3e00f
PiperOrigin-RevId: 454424726 Change-Id: If79e9452c18220ddf0107157d78a2f08ce099a04
52 lines
1.6 KiB
C++
52 lines
1.6 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// A benchmark for comparing different implementations of engine_util_spatial methods.
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#include <benchmark/benchmark.h>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/base/attributes.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_util_blas.h"
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#include "src/engine/engine_util_spatial.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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// ------------- quaternion-vector rotation ----------------------------
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void BM_RotVecQuat(benchmark::State& state) {
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MujocoErrorTestGuard guard;
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// Create axis-angle and convert to a quaternion
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mjtNum quat[4];
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const mjtNum angle = 33 * mjPI / 180;
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mjtNum vec[] = {0.2672612419124244, 0.5345224838248488, 0.8017837257372732};
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mju_axisAngle2Quat(quat, vec, angle);
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for (auto s : state) {
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mjtNum result[3];
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mju_rotVecQuat(result, vec, quat);
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benchmark::DoNotOptimize(result);
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}
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state.SetItemsProcessed(state.iterations());
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}
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BENCHMARK(BM_RotVecQuat);
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} // namespace
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} // namespace mujoco
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