kinematics_benchmarks.cpp File Reference

#include <tesseract_common/macros.h>
#include <benchmark/benchmark.h>
#include <algorithm>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_srdf/srdf_model.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_kinematics/core/joint_group.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/scene_state.h>
#include <tesseract_state_solver/state_solver.h>
#include <tesseract_environment/environment.h>
#include <tesseract_environment/utils.h>
#include <tesseract_geometry/impl/sphere.h>

Include dependency graph for kinematics_benchmarks.cpp:

Go to the source code of this file.

Typedefs
using	CalcStateFn = std::function< tesseract_common::TransformMap(const Eigen::Ref< const Eigen::VectorXd > &state)>

Functions
static void	BM_CALC_FWD_KIN_MANIP (benchmark::State &state, CalcStateFn fn, const tesseract_common::TrajArray &traj)
static void	BM_GET_JACOBIAN_JOINT_NAMES_JOINT_VALUES_SS (benchmark::State &state, tesseract_scene_graph::StateSolver::Ptr state_solver, std::vector< std::string > joint_names, const tesseract_common::TrajArray &traj, std::string link_name)
static void	BM_GET_JACOBIAN_MANIP (benchmark::State &state, tesseract_kinematics::JointGroup::ConstPtr manip, const tesseract_common::TrajArray &traj, std::string link_name)
static void	BM_GET_STATE_JOINT_NAMES_JOINT_VALUES_SS (benchmark::State &state, CalcStateFn fn, const tesseract_common::TrajArray &traj)
static void	BM_SET_AND_GET_STATE_JOINT_NAMES_JOINT_VALUES_SS (benchmark::State &state, CalcStateFn fn, const tesseract_common::TrajArray &traj)
SceneGraph::Ptr	getSceneGraph (const tesseract_common::ResourceLocator &locator)
SRDFModel::Ptr	getSRDFModel (const SceneGraph &scene_graph, const tesseract_common::ResourceLocator &locator)
int	main (int argc, char **argv)

Typedef Documentation

CalcStateFn

using CalcStateFn = std::function<tesseract_common::TransformMap(const Eigen::Ref<const Eigen::VectorXd>& state)>

Definition at line 37 of file kinematics_benchmarks.cpp.

Function Documentation

BM_CALC_FWD_KIN_MANIP()

static void BM_CALC_FWD_KIN_MANIP ( benchmark::State &  state, CalcStateFn  fn, const tesseract_common::TrajArray &  traj  )

static

Definition at line 83 of file kinematics_benchmarks.cpp.

BM_GET_JACOBIAN_JOINT_NAMES_JOINT_VALUES_SS()

static void BM_GET_JACOBIAN_JOINT_NAMES_JOINT_VALUES_SS ( benchmark::State &  state, tesseract_scene_graph::StateSolver::Ptr  state_solver, std::vector< std::string >  joint_names, const tesseract_common::TrajArray &  traj, std::string  link_name  )

static

Definition at line 67 of file kinematics_benchmarks.cpp.

BM_GET_JACOBIAN_MANIP()

static void BM_GET_JACOBIAN_MANIP ( benchmark::State &  state, tesseract_kinematics::JointGroup::ConstPtr  manip, const tesseract_common::TrajArray &  traj, std::string  link_name  )

static

Definition at line 95 of file kinematics_benchmarks.cpp.

BM_GET_STATE_JOINT_NAMES_JOINT_VALUES_SS()

static void BM_GET_STATE_JOINT_NAMES_JOINT_VALUES_SS ( benchmark::State &  state, CalcStateFn  fn, const tesseract_common::TrajArray &  traj  )

static

Definition at line 39 of file kinematics_benchmarks.cpp.

BM_SET_AND_GET_STATE_JOINT_NAMES_JOINT_VALUES_SS()

static void BM_SET_AND_GET_STATE_JOINT_NAMES_JOINT_VALUES_SS ( benchmark::State &  state, CalcStateFn  fn, const tesseract_common::TrajArray &  traj  )

static

Definition at line 53 of file kinematics_benchmarks.cpp.

getSceneGraph()

SceneGraph::Ptr getSceneGraph

(

const tesseract_common::ResourceLocator &

locator

)

Definition at line 21 of file kinematics_benchmarks.cpp.

getSRDFModel()

SRDFModel::Ptr getSRDFModel	(	const SceneGraph &	scene_graph,
		const tesseract_common::ResourceLocator &	locator
	)

Definition at line 27 of file kinematics_benchmarks.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 110 of file kinematics_benchmarks.cpp.