Revision: 8606
http://playerstage.svn.sourceforge.net/playerstage/?rev=8606&view=rev
Author: natepak
Date: 2010-04-02 15:07:45 +0000 (Fri, 02 Apr 2010)
Log Message:
-----------
Added benchmarks
Added Paths:
-----------
code/gazebo/trunk/benchmarks/
code/gazebo/trunk/benchmarks/CMakeLists.txt
code/gazebo/trunk/benchmarks/box_grid_benchmark.cc
code/gazebo/trunk/benchmarks/box_pile_benchmark.cc
code/gazebo/trunk/benchmarks/camera_benchmark.cc
code/gazebo/trunk/benchmarks/joint_chain_benchmark.cc
code/gazebo/trunk/benchmarks/laser_benchmark.cc
Added: code/gazebo/trunk/benchmarks/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/benchmarks/CMakeLists.txt (rev 0)
+++ code/gazebo/trunk/benchmarks/CMakeLists.txt 2010-04-02 15:07:45 UTC (rev
8606)
@@ -0,0 +1,36 @@
+project(factory)
+
+cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
+
+if(COMMAND cmake_policy)
+ cmake_policy(SET CMP0003 NEW)
+ cmake_policy(SET CMP0004 NEW)
+endif(COMMAND cmake_policy)
+
+include (FindPkgConfig)
+
+if (PKG_CONFIG_FOUND)
+ pkg_check_modules(PKG_CFGS REQUIRED libgazebo)
+ set (INCLUDE_DIRS ${PKG_CFGS_INCLUDE_DIRS})
+ set (LINK_DIRS ${PKG_CFGS_LIBRARY_DIRS})
+ set (LINK_LIBS ${PKG_CFGS_LINK_LIBS} ${PKG_CFGS_LIBRARIES})
+endif (PKG_CONFIG_FOUND)
+
+include_directories( ${INCLUDE_DIRS} )
+link_directories( ${LINK_DIRS} )
+
+include_directories(.)
+
+set (sources laser_benchmark.cc box_grid_benchmark.cc box_pile_benchmark.cc
joint_chain_benchmark.cc)
+
+set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS "-ggdb -g2
-Wall")
+
+add_executable(laser_benchmark laser_benchmark.cc)
+add_executable(box_pile_benchmark box_pile_benchmark.cc)
+add_executable(box_grid_benchmark box_grid_benchmark.cc)
+add_executable(joint_chain_benchmark joint_chain_benchmark.cc)
+
+target_link_libraries(laser_benchmark ${LINK_LIBS} )
+target_link_libraries(box_grid_benchmark ${LINK_LIBS} )
+target_link_libraries(box_pile_benchmark ${LINK_LIBS} )
+target_link_libraries(joint_chain_benchmark ${LINK_LIBS} )
Added: code/gazebo/trunk/benchmarks/box_grid_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/box_grid_benchmark.cc
(rev 0)
+++ code/gazebo/trunk/benchmarks/box_grid_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
@@ -0,0 +1,133 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <gazebo/gazebo.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+int laser_count = 0;
+
+std::string test_name="Box Grid Benchmark";
+std::string xlabel = "Box Count";
+std::string ylabel = "Simtime / Realtime";
+std::string data_filename = "/tmp/" + test_name + ".data";
+
+void make_plot()
+{
+ std::ostringstream cmd;
+
+ cmd << "echo \"";
+ cmd << "set xlabel '" << xlabel << "'\n";
+ cmd << "set ylabel '" << ylabel << "'\n";
+ cmd << "set title '" << test_name << "'\n";
+ cmd << "set terminal png\n";
+ cmd << "set output '" << test_name << ".png'\n";
+ cmd << "plot '" << data_filename << "' with lines\n";
+ cmd << "\" | gnuplot";
+
+ if (system(cmd.str().c_str() ) < 0)
+ std::cerr << "Error\n";
+}
+
+void spawn_box(double x, double y, double z=.25)
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='box" << laser_count++ << "'>";
+ model << " <xyz>" << x << " " << y << " " << z << "</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <body:box name='body'>";
+
+ model << " <geom:box name='geom'>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <visual>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ FILE *out = fopen(data_filename.c_str(), "w");
+
+ // 400 blocks in a grid patter
+ for (int y=-10; y < 10; y++)
+ {
+ for ( int x=-10; x < 10; x++)
+ {
+ spawn_box(x, y);
+ double simTime = 0;
+ double realTime = 0;
+
+ for (unsigned int i=0; i < 30; i++)
+ {
+ simTime += simIface->data->simTime;
+ realTime += simIface->data->realTime;
+
+ /// Wait .1 seconds
+ usleep(100000);
+ }
+
+ double percent = simTime / realTime;
+ fprintf(out,"%f\n",percent);
+ std::cout << "Index[" << y << " " << x << "] " << percent << "\n";
+ }
+ }
+
+ fclose(out);
+
+ make_plot();
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
Added: code/gazebo/trunk/benchmarks/box_pile_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/box_pile_benchmark.cc
(rev 0)
+++ code/gazebo/trunk/benchmarks/box_pile_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
@@ -0,0 +1,130 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <gazebo/gazebo.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+int laser_count = 0;
+
+std::string test_name="Boxes Benchmark";
+std::string xlabel = "Box Count";
+std::string ylabel = "Simtime / Realtime";
+std::string data_filename = "/tmp/" + test_name + ".data";
+
+void make_plot()
+{
+ std::ostringstream cmd;
+
+ cmd << "echo \"";
+ cmd << "set xlabel '" << xlabel << "'\n";
+ cmd << "set ylabel '" << ylabel << "'\n";
+ cmd << "set title '" << test_name << "'\n";
+ cmd << "set terminal png\n";
+ cmd << "set output '" << test_name << ".png'\n";
+ cmd << "plot '" << data_filename << "' with lines\n";
+ cmd << "\" | gnuplot";
+
+ if (system(cmd.str().c_str() ) < 0)
+ std::cerr << "Error\n";
+}
+
+void spawn_box(double x, double y, double z=10)
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='box" << laser_count++ << "'>";
+ model << " <xyz>" << x << " " << y << " " << z << "</xyz>";
+ model << " <rpy>30 40 0</rpy>";
+ model << " <body:box name='body'>";
+
+ model << " <geom:box name='geom'>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <visual>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ FILE *out = fopen(data_filename.c_str(), "w");
+
+ for (unsigned int j=0; j < 400; j++)
+ {
+ spawn_box(0, 0);
+
+ double simTime = 0;
+ double realTime = 0;
+
+ for (unsigned int i=0; i < 50; i++)
+ {
+ simTime += simIface->data->simTime;
+ realTime += simIface->data->realTime;
+
+ /// Wait .1 seconds
+ usleep(100000);
+ }
+
+ double percent = simTime / realTime;
+ fprintf(out,"%f\n",percent);
+
+ std::cout << "Index[" << j << "] = " << percent << "\n";
+ }
+ fclose(out);
+
+ make_plot();
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
Added: code/gazebo/trunk/benchmarks/camera_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/camera_benchmark.cc
(rev 0)
+++ code/gazebo/trunk/benchmarks/camera_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
@@ -0,0 +1,132 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <gazebo/gazebo.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+int camera_count = 0;
+
+std::string test_name="Camera Benchmark";
+std::string xlabel = "Camera Count";
+std::string ylabel = "Simtime / Realtime";
+std::string data_filename = "/tmp/" + test_name + ".data";
+
+void make_plot()
+{
+ std::ostringstream cmd;
+
+ cmd << "echo \"";
+ cmd << "set xlabel '" << xlabel << "'\n";
+ cmd << "set ylabel '" << ylabel << "'\n";
+ cmd << "set title '" << test_name << "'\n";
+ cmd << "set terminal png\n";
+ cmd << "set output '" << test_name << ".png'\n";
+ cmd << "plot '" << data_filename << "' with lines\n";
+ cmd << "\" | gnuplot";
+
+ if (system(cmd.str().c_str() ) < 0)
+ std::cerr << "Error\n";
+}
+
+void spawn_box(double x, double y, double z=10)
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='camera" << camera_count++ << "'>";
+ model << " <xyz>" << x << " " << y << " " << z << "</xyz>";
+ model << " <rpy>30 40 0</rpy>";
+ model << " <body:box name='body'>";
+
+ model << " <geom:box name='geom'>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <visual>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " <sensor:camera name='camera'>";
+ model << " <imageSize>640 480</imageSize>";
+ model << "
+
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ FILE *out = fopen(data_filename.c_str(), "w");
+
+ for (unsigned int j=0; j < 100; j++)
+ {
+ spawn_box(j+1, 0);
+
+ double simTime = 0;
+ double realTime = 0;
+
+ for (unsigned int i=0; i < 50; i++)
+ {
+ simTime += simIface->data->simTime;
+ realTime += simIface->data->realTime;
+
+ /// Wait .1 seconds
+ usleep(100000);
+ }
+
+ double percent = simTime / realTime;
+ fprintf(out,"%f\n",percent);
+ }
+ fclose(out);
+
+ make_plot();
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
Added: code/gazebo/trunk/benchmarks/joint_chain_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/joint_chain_benchmark.cc
(rev 0)
+++ code/gazebo/trunk/benchmarks/joint_chain_benchmark.cc 2010-04-02
15:07:45 UTC (rev 8606)
@@ -0,0 +1,163 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <gazebo/gazebo.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+int joint_count = 0;
+
+std::string test_name="Joint Chain Benchmark";
+std::string xlabel = "Joint Count";
+std::string ylabel = "Simtime / Realtime";
+std::string data_filename = "/tmp/" + test_name + ".data";
+
+void make_plot()
+{
+ std::ostringstream cmd;
+
+ cmd << "echo \"";
+ cmd << "set xlabel '" << xlabel << "'\n";
+ cmd << "set ylabel '" << ylabel << "'\n";
+ cmd << "set title '" << test_name << "'\n";
+ cmd << "set terminal png\n";
+ cmd << "set output '" << test_name << ".png'\n";
+ cmd << "plot '" << data_filename << "' with lines\n";
+ cmd << "\" | gnuplot";
+
+ if (system(cmd.str().c_str() ) < 0)
+ std::cerr << "Error\n";
+}
+
+void spawn_chain(int joint_count)
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='joint_model'>";
+ model << " <xyz>0 0 0</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+
+ model << " <body:box name='body0'>";
+ model << " <xyz>0 0 0.25</xyz>";
+ model << " <geom:box name='geom'>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <visual>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+ model << " </body:box>";
+
+ for (int i=1; i < joint_count+1; i++)
+ {
+ model << " <body:box name='body" << i << "'>";
+ model << " <xyz>" << i << " 0 0.25</xyz>";
+ model << " <geom:box name='geom'>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <visual>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+ model << " </body:box>";
+ }
+
+ for (int i=1; i < joint_count+1; i++)
+ {
+ model << " <joint:hinge name='joint" << i << "'>";
+ model << " <body1>body" << i-1 << "</body1>";
+ model << " <body2>body" << i << "</body2>";
+ model << " <anchor>body" << i << "</anchor>";
+ model << " <axis>0 0 1</axis>";
+ model << " <erp>0.8</erp>";
+ model << " <cfm>10e-5</cfm>";
+ model << " </joint:hinge>";
+ }
+
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ FILE *out = fopen(data_filename.c_str(), "w");
+
+ for (unsigned int j=1; j < 400; j++)
+ {
+
+ spawn_chain(j);
+
+ double simTime = 0;
+ double realTime = 0;
+
+ for (unsigned int i=0; i < 50; i++)
+ {
+ simTime += simIface->data->simTime;
+ realTime += simIface->data->realTime;
+
+ /// Wait .1 seconds
+ usleep(100000);
+ }
+ strcpy( (char*)factoryIface->data->deleteModel, "joint_model");
+ while ( strcmp((char*)factoryIface->data->deleteModel, "") != 0)
+ usleep(10000);
+
+ double percent = simTime / realTime;
+ fprintf(out,"%f\n",percent);
+
+ std::cout << "Index[" << j << "] = " << percent << "\n";
+ }
+ fclose(out);
+
+ make_plot();
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
Added: code/gazebo/trunk/benchmarks/laser_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/laser_benchmark.cc
(rev 0)
+++ code/gazebo/trunk/benchmarks/laser_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
@@ -0,0 +1,147 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <gazebo/gazebo.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+int laser_count = 0;
+
+std::string test_name="Laser Benchmark";
+std::string xlabel = "Laser Count";
+std::string ylabel = "Simtime / Realtime";
+std::string data_filename = "/tmp/" + test_name + ".data";
+
+void make_plot()
+{
+ std::ostringstream cmd;
+
+ cmd << "echo \"";
+ cmd << "set xlabel '" << xlabel << "'\n";
+ cmd << "set ylabel '" << ylabel << "'\n";
+ cmd << "set title '" << test_name << "'\n";
+ cmd << "set terminal png\n";
+ cmd << "set output '" << test_name << ".png'\n";
+ cmd << "plot '" << data_filename << "' with lines\n";
+ cmd << "\" | gnuplot";
+
+ if (system(cmd.str().c_str() ) < 0)
+ std::cerr << "Error\n";
+}
+
+void spawn_laser(double x, double y, double z=0.05)
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='laser" << laser_count++ << "'>";
+ model << " <xyz>" << x << " " << y << " " << z << "</xyz>";
+ model << " <static>true</static>";
+ model << " <body:box name='body'>";
+
+ model << " <geom:box name='geom'>";
+ model << " <size>0.1 0.1 0.1</size>";
+ model << " <mass>0.1</mass>";
+ model << " <visual>";
+ model << " <size>0.1 0.1 0.1</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " <sensor:ray name='laser'>";
+ model << " <alwaysActive>true</alwaysActive>";
+ model << " <rayCount>260</rayCount>";
+ model << " <rangeCount>260</rangeCount>";
+ model << " <origin>0.02 0 0</origin>";
+ model << " <displayRays>fan</displayRays>";
+ model << " <minAngle>-90</minAngle>";
+ model << " <maxAngle>90</maxAngle>";
+ model << " <minRange>0.1</minRange>";
+ model << " <maxRange>8.0</maxRange>";
+ model << " <resRange>0.1</resRange>";
+ model << " </sensor:ray>";
+
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ FILE *out = fopen(data_filename.c_str(), "w");
+
+ if (!out)
+ std::cerr << "Unable to open log file";
+
+ for (int y = -5; y < 5; y++)
+ {
+ for (int x = -5; x < 5; x++)
+ {
+ spawn_laser(x,y);
+
+ double simTime = 0;
+ double realTime = 0;
+
+ for (unsigned int i=0; i < 30; i++)
+ {
+ simTime += simIface->data->simTime;
+ realTime += simIface->data->realTime;
+
+ /// Wait .1 seconds
+ usleep(100000);
+ }
+
+ double percent = simTime / realTime;
+ fprintf(out,"%f\n",percent);
+ std::cout << "Index[" << y << " " << x << "] = " << percent << "\n";
+ }
+ }
+ fclose(out);
+
+ make_plot();
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
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