Esempi in C++ (Cpp) per PROF_TIMER_FUNC

Esempio n. 1

File: profiling_test.cpp Progetto: ChellaVignesh/ros_haptics

void func()
{
  PROF_TIMER_FUNC(FUNC_TIMER);
  for (int i=0; i<100000; i++)
  {
    double a = sqrt(5);
  } 
}

Esempio n. 2

File: database.cpp Progetto: BerkeleyAutomation/google_goggles_project

/*! Note that this is always a copy, and does not allow for using a recordset or cursor. */
bool Table::Populate(QSqlQuery query) {
  PROF_TIMER_FUNC(TABLE_POPULATE);
  data_.clear();
  column_names_.clear();
  if (query.next()) {
    QSqlRecord first_record = query.record();
    num_columns_ = first_record.count();
    data_.resize(num_columns_, vector<QVariant>(query.numRowsAffected()));
    for (int i = 0; i < num_columns_; ++i) {
      column_names_.insert(make_pair(first_record.fieldName(i).toStdString(), i));
      //cerr << "Column name: " << first_record.fieldName(i).toStdString() << "\n";
    }
    do {
      for (int i = 0; i < num_columns_; ++i) 
        data_[i].push_back(query.value(i));
    } while(query.next());
    if (!data_.empty()) num_rows_ = data_[0].size();
    return true;
  }
  return false;
}

Esempio n. 3

File: compliantEnergy.cpp Progetto: graspit-simulator/graspit

double CompliantEnergy::energy() const
{
  PROF_RESET(QS);
  PROF_TIMER_FUNC(QS);
  //approach the object until contact; go really far if needed
  mHand->findInitialContact(200);
  //check if we've actually touched the object
  if (!mHand->getNumContacts(mObject)) { return 1; }

  //close the hand, but do additional processing when each new contact happens
  mCompUnbalanced = false;
  mMaxUnbalancedForce.set(0.0, 0.0, 0.0);

  QObject::connect(mHand, SIGNAL(moveDOFStepTaken(int, bool &)),
                   this, SLOT(autoGraspStep(int, bool &)));
  mHand->autoGrasp(!mDisableRendering, 1.0, false);
  QObject::disconnect(mHand, SIGNAL(moveDOFStepTaken(int, bool &)),
                      this, SLOT(autoGraspStep(int, bool &)));

  if (mCompUnbalanced || mMaxUnbalancedForce.len() > unbalancedForceThreshold) {
    //the equivalent of an unstable grasp
  }

  //check if we've actually grasped the object
  if (mHand->getNumContacts(mObject) < 2) { return 1; }

  PRINT_STAT(mOut, "unbal: " << mMaxUnbalancedForce);

  //compute unbalanced force again. Is it zero?
  //but compute it for all the force that the dofs will apply
  //a big hack for now. It is questionable if the hand should even allow
  //this kind of intrusion into its dofs.
  for (int d = 0; d < mHand->getNumDOF(); d++) {
    mHand->getDOF(d)->setForce(mHand->getDOF(d)->getMaxForce());
  }
  mHand->getWorld()->resetDynamicWrenches();
  //passing true means the set dof force will be used in computations
  Matrix tau(mHand->staticJointTorques(true));
  int result = mHand->getGrasp()->computeQuasistaticForces(tau);
  if (result) {
    if (result > 0) {
      PRINT_STAT(mOut, "Final_unbalanced");
    } else {
      PRINT_STAT(mOut, "Final_ERROR");
    }
    return 1.0;
  }
  double *extWrench = static_cast<DynamicBody *>(mObject)->getExtWrenchAcc();
  vec3 force(extWrench[0], extWrench[1], extWrench[2]);
  vec3 torque(extWrench[3], extWrench[4], extWrench[5]);

  //perform traditional f-c check
  mHand->getGrasp()->collectContacts();
  mHand->getGrasp()->updateWrenchSpaces();
  double epsQual = mEpsQual->evaluate();
  PRINT_STAT(mOut, "eps: " << epsQual);

  if (epsQual < 0.05) { return 1.0; }

  PROF_PRINT(QS);
  PRINT_STAT(mOut, "torque: " << torque << " " << torque.len());
  PRINT_STAT(mOut, "force: " << force << " " << force.len());

  return -200.0 + force.len();// + torque.len();
}