performance_test.cpp

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#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "test_utils/utils.hpp"
 
 
void iterate_smoothing(const std::vector<PathPoint> &path) {
  auto path_smoothing = PathSmoothing();
 
  std::ofstream measures_path = ::openWriteFile("performance/exec_time/planning/planning_" +
                                              ::get_current_date_time_as_string() + ".csv");
  double total_time = 0;
  int no_iters = 100;
 
  // No_iters repetitions to get average
  for (int i = 0; i < no_iters; i++) {
 
    auto t0 = std::chrono::high_resolution_clock::now();
 
    std::vector<PathPoint> smoothed_path =
        path_smoothing.smooth_path(path,false);
 
    auto t1 = std::chrono::high_resolution_clock::now();
 
    double elapsed_time_ms = std::chrono::duration<double, std::milli>(t1 - t0).count();
 
    total_time += elapsed_time_ms;
  }
 
  measures_path << total_time / no_iters << "\n";
  measures_path.close();
 
  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Average Smoothing processed in %f ms.",
              (total_time / no_iters));
}