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[benchmark] Split benchmarks into separate files (#8351)

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Also add Sleipnir cart-pole benchmark from #8323.
This commit is contained in:
Tyler Veness
2025-11-10 10:36:21 -08:00
committed by GitHub
parent 37d81d490b
commit 694a79579e
5 changed files with 215 additions and 66 deletions
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36
benchmark/src/main/java/wpilib/robot/Main.java
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@@ -12,44 +12,18 @@ import org.openjdk.jmh.annotations.OutputTimeUnit;
import org.openjdk.jmh.profile.GCProfiler;
import org.openjdk.jmh.runner.Runner;
import org.openjdk.jmh.runner.RunnerException;
import org.openjdk.jmh.runner.options.Options;
import org.openjdk.jmh.runner.options.OptionsBuilder;
import org.openjdk.jmh.runner.options.TimeValue;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.path.TravelingSalesman;
public class Main {
private static final Pose2d[] poses = {
new Pose2d(-1, 1, Rotation2d.kCW_90deg),
new Pose2d(-1, 2, Rotation2d.kCCW_90deg),
new Pose2d(0, 0, Rotation2d.kZero),
new Pose2d(0, 3, Rotation2d.kCW_90deg),
new Pose2d(1, 1, Rotation2d.kCCW_90deg),
new Pose2d(1, 2, Rotation2d.kCCW_90deg),
};
private static final int iterations = 100;
private static final TravelingSalesman transformTraveler =
new TravelingSalesman(
(pose1, pose2) -> {
var transform = pose2.minus(pose1);
return Math.hypot(transform.getX(), transform.getY());
});
private static final TravelingSalesman twistTraveler =
new TravelingSalesman(
(pose1, pose2) -> {
var twist = pose2.minus(pose1).log();
return Math.hypot(twist.dx, twist.dy);
});
/**
* Main function.
*
* @param args The (unused) arguments to the program.
*/
public static void main(String... args) throws RunnerException {
Options opt =
var opt =
new OptionsBuilder()
.include(Main.class.getSimpleName())
.addProfiler(GCProfiler.class)
@@ -66,14 +40,14 @@ public class Main {
@Benchmark
@BenchmarkMode(Mode.AverageTime)
@OutputTimeUnit(TimeUnit.MICROSECONDS)
public Pose2d[] transform() {
return transformTraveler.solve(poses, iterations);
public Pose2d[] travelingSalesmanTransform() {
return TravelingSalesmanBenchmark.transform();
}
@Benchmark
@BenchmarkMode(Mode.AverageTime)
@OutputTimeUnit(TimeUnit.MICROSECONDS)
public Pose2d[] twist() {
return twistTraveler.solve(poses, iterations);
public Pose2d[] travelingSalesmanTwist() {
return TravelingSalesmanBenchmark.twist();
}
}