Yuval Tassa
c7b1171846
PiperOrigin-RevId: 938503994 Change-Id: I3a12647feea4c761dd8f8ba239f92355ceccfba1
57 lines
1.7 KiB
C++
57 lines
1.7 KiB
C++
// Copyright 2025 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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#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
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#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
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#include <vector>
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#include <imgui.h>
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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// Collects and displays profiling data for MuJoCo simulations.
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class SimProfiler {
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public:
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SimProfiler();
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// Clears all captured profiling data.
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void Clear();
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// Updates the profiling data with the latest simulation data.
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void Update(const mjModel* model, const mjData* data);
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// Displays the profiling data using ImPlot.
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void CpuTimeGraph(ImVec2 plot_size = ImVec2(-1, 0));
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void DimensionsGraph(ImVec2 plot_size = ImVec2(-1, 0));
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private:
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std::vector<float> cpu_total_;
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std::vector<float> cpu_collision_;
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std::vector<float> cpu_prepare_;
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std::vector<float> cpu_solve_;
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std::vector<float> cpu_other_;
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std::vector<float> dim_dof_;
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std::vector<float> dim_body_;
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std::vector<float> dim_constraint_;
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std::vector<float> dim_nnz_;
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std::vector<float> dim_contact_;
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std::vector<float> dim_iteration_;
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};
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} // namespace mujoco::platform
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#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
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