timer.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* SOT */
#include <dynamic-graph/linear-algebra.h>

#include <sot/core/factory.hh>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/timer.hh>

using namespace dynamicgraph::sot;
using namespace dynamicgraph;

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

typedef Timer<dynamicgraph::Vector> timevect;
template <>
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timevect, "TimerVector");

typedef Timer<dynamicgraph::Matrix> timematrix;
template <>
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timematrix, "TimerMatrix");

typedef Timer<MatrixHomogeneous> timematrixhomo;
template <>
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timematrixhomo, "TimerMatrixHomo");

typedef Timer<double> timedouble;
template <>
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timedouble, "TimerDouble");

/* --------------------------------------------------------------------- */
void cmdChrono(const std::string &cmdLine, std::istringstream &cmdArg,
               std::ostream &os) {
  sotDEBUGIN(15);

  if (cmdLine == "help") {
    os << "  - chrono <cmd...>"
       << "\t\t\t\tLaunch <cmd> and display the time spent in the operation."
       << std::endl;
    return;
  }

  struct timeval t0, t1;
  double dt;

  gettimeofday(&t0, NULL);
  sotDEBUG(15) << "t0: " << t0.tv_sec << " - " << t0.tv_usec << std::endl;

  std::string cmdLine2;
  cmdArg >> cmdLine2;
  sotDEBUG(5) << "Chrono <" << cmdLine2 << ">" << std::endl;
  // Florent: remove reference to g_shell
  // g_shell.cmd(cmdLine2,cmdArg,os);

  gettimeofday(&t1, NULL);
  dt = ((static_cast<double>(t1.tv_sec) - static_cast<double>(t0.tv_sec)) *
            1000. +
        (static_cast<double>(t1.tv_usec) - static_cast<double>(t0.tv_usec) +
         0.) /
            1000.);
  sotDEBUG(15) << "t1: " << t1.tv_sec << " - " << t1.tv_usec << std::endl;

  os << "Time spent = " << dt << " ms " << std::endl;

  sotDEBUGOUT(15);
}

/* --------------------------------------------------------------------- */
/* --- CONTROL --------------------------------------------------------- */
/* --------------------------------------------------------------------- */