Kyle Bayes
91257896c0
PiperOrigin-RevId: 814148714 Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
87 lines
2.3 KiB
C++
87 lines
2.3 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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#include <vector>
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#include "benchmark/benchmark.h"
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#include <absl/base/attributes.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_util_misc.h"
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namespace mujoco {
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namespace {
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// Run benchmark for the isZero functions, for mjtNum directly or bytewise.
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ABSL_ATTRIBUTE_NO_TAIL_CALL static void IzZeroBenchmark(
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benchmark::State& state, int n, bool bytewise) {
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std::vector<mjtNum> data(n, 0);
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data[n-1] = 1;
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if (bytewise) {
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for (auto s : state) {
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int iszero =
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mju_isZeroByte((const unsigned char*)data.data(), n * sizeof(mjtNum));
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benchmark::DoNotOptimize(iszero);
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}
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} else {
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for (auto s : state) {
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int iszero = mju_isZero(data.data(), n);
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benchmark::DoNotOptimize(iszero);
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}
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}
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state.counters["items/s"] =
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benchmark::Counter(state.iterations() * n, benchmark::Counter::kIsRate);
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}
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// Define benchmarks.
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void BM_isZeroByte_10(benchmark::State& state) {
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IzZeroBenchmark(state, 10, true);
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}
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BENCHMARK(BM_isZeroByte_10);
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void BM_isZeroByte_1e2(benchmark::State& state) {
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IzZeroBenchmark(state, 100, true);
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}
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BENCHMARK(BM_isZeroByte_1e2);
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void BM_isZeroByte_1e5(benchmark::State& state) {
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IzZeroBenchmark(state, 100000, true);
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}
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BENCHMARK(BM_isZeroByte_1e5);
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void BM_isZero_10(benchmark::State& state) {
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IzZeroBenchmark(state, 10, false);
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}
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BENCHMARK(BM_isZero_10);
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void BM_isZero_1e2(benchmark::State& state) {
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IzZeroBenchmark(state, 100, false);
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}
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BENCHMARK(BM_isZero_1e2);
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void BM_isZero_1e5(benchmark::State& state) {
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IzZeroBenchmark(state, 100000, false);
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}
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BENCHMARK(BM_isZero_1e5);
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} // namespace
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} // namespace mujoco
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int main(int argc, char** argv) {
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benchmark::Initialize(&argc, argv);
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benchmark::RunSpecifiedBenchmarks();
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return 0;
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}
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