test_blockmem_gridmap_performance.cpp

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#include <cstddef>

#include <gtest/gtest.h>

#include <planner_cspace/blockmem_gridmap.h>

TEST(BlockmemGridmap, SpacialAccessPerformance)
{
  constexpr int size[3] =
      {
        0x420, 0x420, 0x28
      };
  constexpr int pad[3] =
      {
        0x200, 0x200, 0x10
      };
  constexpr int range = 0x10;

  BlockMemGridmap<float, 3, 2, 0x20> gm;
  BlockMemGridmap<float, 3, 2, 0x20> gm_ret;

  using Vec = CyclicVecInt<3, 2>;
  using ThreeDimArrayFloat = std::array<std::array<std::array<float, size[0]>, size[1]>, size[2]>;

  std::shared_ptr<ThreeDimArrayFloat> array(new ThreeDimArrayFloat);
  std::shared_ptr<ThreeDimArrayFloat> array_ret(new ThreeDimArrayFloat);

  gm.reset(Vec(size));
  gm_ret.reset(Vec(size));

  Vec i;
  // Generate dataset.
  for (i[0] = 0; i[0] < size[0]; ++i[0])
  {
    for (i[1] = 0; i[1] < size[1]; ++i[1])
    {
      for (i[2] = 0; i[2] < size[2]; ++i[2])
      {
        gm[i] = i[2] * 0x100 + i[1] * 0x10 + i[0];
        (*array)[i[2]][i[1]][i[0]] = gm[i];
      }
    }
  }
  // Check dataset.
  for (i[0] = pad[0]; i[0] < size[0] - pad[0]; ++i[0])
  {
    for (i[1] = pad[1]; i[1] < size[1] - pad[1]; ++i[1])
    {
      for (i[2] = pad[2]; i[2] < size[2] - pad[2]; ++i[2])
      {
        ASSERT_EQ(gm[i], (*array)[i[2]][i[1]][i[0]]);
      }
    }
  }

  // Performance test for BlockMemGridmap.
  const auto ts0 = boost::chrono::high_resolution_clock::now();
  for (i[0] = pad[0]; i[0] < size[0] - pad[0]; ++i[0])
  {
    for (i[1] = pad[1]; i[1] < size[1] - pad[1]; ++i[1])
    {
      for (i[2] = pad[2]; i[2] < size[2] - pad[2]; ++i[2])
      {
        Vec j;
        gm_ret[i] = 0;

        for (j[0] = -range; j[0] <= range; ++j[0])
        {
          for (j[1] = -range; j[1] <= range; ++j[1])
          {
            for (j[2] = -range; j[2] <= range; ++j[2])
            {
              const Vec ij = i + j;
              gm_ret[i] += gm[ij];
            }
          }
        }
      }
    }
    std::cerr << ".";
  }
  std::cerr << std::endl;
  const auto te0 = boost::chrono::high_resolution_clock::now();
  std::cout << "BlockMemGridmap<3, 2>: " << boost::chrono::duration<float>(te0 - ts0).count() << std::endl;

  // Performance test for 3D Array.
  const auto ts1 = boost::chrono::high_resolution_clock::now();
  for (i[0] = pad[0]; i[0] < size[0] - pad[0]; ++i[0])
  {
    for (i[1] = pad[1]; i[1] < size[1] - pad[1]; ++i[1])
    {
      for (i[2] = pad[2]; i[2] < size[2] - pad[2]; ++i[2])
      {
        Vec j;
        (*array_ret)[i[2]][i[1]][i[0]] = 0;

        for (j[0] = -range; j[0] <= range; ++j[0])
        {
          for (j[1] = -range; j[1] <= range; ++j[1])
          {
            for (j[2] = -range; j[2] <= range; ++j[2])
            {
              const Vec ij = i + j;
              (*array_ret)[i[2]][i[1]][i[0]] += (*array)[ij[2]][ij[1]][ij[0]];
            }
          }
        }
      }
    }
    std::cerr << ".";
  }
  std::cerr << std::endl;
  const auto te1 = boost::chrono::high_resolution_clock::now();
  std::cout << "Array[][][]: " << boost::chrono::duration<float>(te1 - ts1).count() << std::endl;

  // Check result.
  for (i[0] = 0x200; i[0] < size[0] - 0x200; ++i[0])
  {
    for (i[1] = 0x200; i[1] < size[1] - 0x200; ++i[1])
    {
      for (i[2] = 0x10; i[2] < size[2] - 0x10; ++i[2])
      {
        ASSERT_EQ(gm_ret[i], (*array_ret)[i[2]][i[1]][i[0]]);
      }
    }
  }

  // Compare performance.
  ASSERT_LT(te0 - ts0, te1 - ts1);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}