Matthew Bennice
071af3b015
Humanoids22 No threads: Benchmark Execution Time: 9.475905812s Humanoids22 with 10 Threads: Benchmark Execution Time: 4.871352s PiperOrigin-RevId: 571214307 Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
90 lines
2.3 KiB
CMake
90 lines
2.3 KiB
CMake
# 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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# https://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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# Macro for benchmarks that don't use GL (same as mujoco_api_test, but uses
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# benchmark::benchmark_main).
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macro(mujoco_benchmark_test name)
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add_executable(${name} ${name}.cc)
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target_link_libraries(
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${name}
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benchmark::benchmark_main
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mujoco
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absl::core_headers
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)
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target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
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# TODO(fraromano) Check RPATH settings
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set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
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# gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
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gtest_add_tests(
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TARGET ${name}
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SOURCES ${name}.cc
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WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
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TEST_LIST testList
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)
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if(WIN32)
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set_tests_properties(
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${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
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)
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endif()
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endmacro()
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mujoco_benchmark_test(step_benchmark_test)
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target_link_libraries(
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step_benchmark_test
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fixture
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gmock
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benchmark::benchmark
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)
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mujoco_benchmark_test(thread_performance_test)
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target_link_libraries(
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thread_performance_test
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fixture
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gmock
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benchmark::benchmark
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)
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mujoco_benchmark_test(parse_benchmark_test)
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target_link_libraries(
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parse_benchmark_test
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fixture
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gmock
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benchmark::benchmark
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)
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mujoco_benchmark_test(engine_util_spatial_benchmark_test)
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target_link_libraries(
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engine_util_spatial_benchmark_test
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fixture
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gmock
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benchmark::benchmark
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)
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mujoco_benchmark_test(engine_core_smooth_benchmark_test)
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target_link_libraries(
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engine_core_smooth_benchmark_test
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fixture
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gmock
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benchmark::benchmark
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)
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mujoco_benchmark_test(engine_util_sparse_benchmark_test)
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target_link_libraries(
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engine_util_sparse_benchmark_test
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fixture
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gmock
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benchmark::benchmark
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)
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