mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
d248c040bf
The wrapper includes reverse mode autodiff, the Problem DSL, and the optimal control problem API. I wrote it by directly translating the upstream [API](https://github.com/SleipnirGroup/Sleipnir/tree/main/include/sleipnir) and [tests](https://github.com/SleipnirGroup/Sleipnir/tree/main/test) to Java (i.e., copy-paste-modify). I replaced the ArmFeedforward and Ellipse2d JNIs with implementations using the Sleipnir Java bindings. Switching dev binary JNIs to release by default sped up wpimath test runs from several minutes to 7 seconds.
61 lines
1.8 KiB
Java
61 lines
1.8 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package wpilib.robot;
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import java.util.concurrent.TimeUnit;
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import org.openjdk.jmh.annotations.Benchmark;
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import org.openjdk.jmh.annotations.BenchmarkMode;
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import org.openjdk.jmh.annotations.Mode;
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import org.openjdk.jmh.annotations.OutputTimeUnit;
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import org.openjdk.jmh.profile.GCProfiler;
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import org.openjdk.jmh.runner.Runner;
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import org.openjdk.jmh.runner.RunnerException;
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import org.openjdk.jmh.runner.options.OptionsBuilder;
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import org.openjdk.jmh.runner.options.TimeValue;
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import org.wpilib.math.geometry.Pose2d;
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public class Main {
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/**
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* Main function.
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*
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* @param args The (unused) arguments to the program.
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*/
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public static void main(String... args) throws RunnerException {
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var opt =
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new OptionsBuilder()
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.include(Main.class.getSimpleName())
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.addProfiler(GCProfiler.class)
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.forks(1)
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.warmupIterations(2)
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.warmupTime(TimeValue.seconds(3))
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.measurementIterations(3)
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.measurementTime(TimeValue.seconds(3))
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.build();
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new Runner(opt).run();
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}
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@Benchmark
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@BenchmarkMode(Mode.AverageTime)
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@OutputTimeUnit(TimeUnit.MICROSECONDS)
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public void cartPole() {
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CartPoleBenchmark.cartPole();
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}
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@Benchmark
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@BenchmarkMode(Mode.AverageTime)
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@OutputTimeUnit(TimeUnit.MICROSECONDS)
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public Pose2d[] travelingSalesmanTransform() {
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return TravelingSalesmanBenchmark.transform();
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}
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@Benchmark
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@BenchmarkMode(Mode.AverageTime)
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@OutputTimeUnit(TimeUnit.MICROSECONDS)
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public Pose2d[] travelingSalesmanTwist() {
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return TravelingSalesmanBenchmark.twist();
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}
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}
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