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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <dynamic-graph/linear-algebra.h> |
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#include <sot/core/factory.hh> |
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#include <sot/core/matrix-geometry.hh> |
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#include <sot/core/timer.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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typedef Timer<dynamicgraph::Vector> timevect; |
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template <> |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timevect, "TimerVector"); |
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typedef Timer<dynamicgraph::Matrix> timematrix; |
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template <> |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timematrix, "TimerMatrix"); |
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typedef Timer<MatrixHomogeneous> timematrixhomo; |
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template <> |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timematrixhomo, "TimerMatrixHomo"); |
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typedef Timer<double> timedouble; |
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template <> |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timedouble, "TimerDouble"); |
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/* --------------------------------------------------------------------- */ |
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void cmdChrono(const std::string &cmdLine, std::istringstream &cmdArg, |
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std::ostream &os) { |
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sotDEBUGIN(15); |
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if (cmdLine == "help") { |
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os << " - chrono <cmd...>" |
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<< "\t\t\t\tLaunch <cmd> and display the time spent in the operation." |
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<< std::endl; |
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return; |
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} |
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struct timeval t0, t1; |
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double dt; |
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gettimeofday(&t0, NULL); |
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sotDEBUG(15) << "t0: " << t0.tv_sec << " - " << t0.tv_usec << std::endl; |
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std::string cmdLine2; |
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cmdArg >> cmdLine2; |
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sotDEBUG(5) << "Chrono <" << cmdLine2 << ">" << std::endl; |
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// Florent: remove reference to g_shell |
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// g_shell.cmd(cmdLine2,cmdArg,os); |
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gettimeofday(&t1, NULL); |
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dt = ((static_cast<double>(t1.tv_sec) - static_cast<double>(t0.tv_sec)) * |
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1000. + |
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(static_cast<double>(t1.tv_usec) - static_cast<double>(t0.tv_usec) + |
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0.) / |
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1000.); |
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sotDEBUG(15) << "t1: " << t1.tv_sec << " - " << t1.tv_usec << std::endl; |
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os << "Time spent = " << dt << " ms " << std::endl; |
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sotDEBUGOUT(15); |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --- CONTROL --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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