The benchmarks below were generated on a AMD Ryzen 5 PRO 4650U with Radeon Graphics. Typically the prefix is describes the test-type (for example to_outline). The postfix cover denotes that this is the a function from this library. The postfix costmap indicates that this is a comparable function from the costmap_2d (or base_local_planner) library. The postfix nav_grid_iterators indicates that this is a comparable function from the nav_grid_iterators library. The last number (0 to 5) is the test-parameter (the tests have been done of different polygonal footprints).
Note: The footprints 0 to 3 are concave. Since the ros-library is not suited for concave footprints they have been omitted form the to_area_costmap benchmark.
| Benchmark | Time | CPU | Iterations |
|---|---|---|---|
| to_line_cover | 161 ns | 160 ns | 4041687 |
| to_line_costmap | 544 ns | 544 ns | 1293362 |
| costmap_fixture/to_outline_cover/0 | 280 ns | 280 ns | 2545658 |
| costmap_fixture/to_outline_cover/1 | 370 ns | 369 ns | 1836983 |
| costmap_fixture/to_outline_cover/2 | 466 ns | 466 ns | 1461823 |
| costmap_fixture/to_outline_cover/3 | 882 ns | 882 ns | 784333 |
| costmap_fixture/to_outline_cover/4 | 321 ns | 321 ns | 2162648 |
| costmap_fixture/to_outline_cover/5 | 346 ns | 345 ns | 2011996 |
| costmap_fixture/to_outline_costmap/0 | 803 ns | 803 ns | 869883 |
| costmap_fixture/to_outline_costmap/1 | 1227 ns | 1226 ns | 568397 |
| costmap_fixture/to_outline_costmap/2 | 1436 ns | 1434 ns | 494009 |
| costmap_fixture/to_outline_costmap/3 | 764 ns | 764 ns | 921903 |
| costmap_fixture/to_outline_costmap/4 | 896 ns | 895 ns | 785647 |
| costmap_fixture/to_outline_costmap/5 | 785 ns | 785 ns | 890924 |
| costmap_fixture/to_outline_nav_grid_iterators/0 | 11038 ns | 11031 ns | 63569 |
| costmap_fixture/to_outline_nav_grid_iterators/1 | 16408 ns | 16396 ns | 42674 |
| costmap_fixture/to_outline_nav_grid_iterators/2 | 19945 ns | 19930 ns | 35209 |
| costmap_fixture/to_outline_nav_grid_iterators/3 | 32062 ns | 32049 ns | 21784 |
| costmap_fixture/to_outline_nav_grid_iterators/4 | 9161 ns | 9154 ns | 76708 |
| costmap_fixture/to_outline_nav_grid_iterators/5 | 6650 ns | 6645 ns | 105647 |
| costmap_fixture/to_area_cover/0 | 9147 ns | 9140 ns | 77556 |
| costmap_fixture/to_area_cover/1 | 9819 ns | 9810 ns | 71358 |
| costmap_fixture/to_area_cover/2 | 13382 ns | 13376 ns | 51419 |
| costmap_fixture/to_area_cover/3 | 26164 ns | 26152 ns | 26701 |
| costmap_fixture/to_area_cover/4 | 2315 ns | 2314 ns | 299387 |
| costmap_fixture/to_area_cover/5 | 1004 ns | 1003 ns | 687788 |
| costmap_fixture/to_area_costmap/4 | 35332 ns | 35289 ns | 19294 |
| costmap_fixture/to_area_costmap/5 | 8367 ns | 8358 ns | 83861 |
| costmap_fixture/to_area_nav_grid_iterators/0 | 137955 ns | 137889 ns | 5088 |
| costmap_fixture/to_area_nav_grid_iterators/1 | 148128 ns | 148045 ns | 4758 |
| costmap_fixture/to_area_nav_grid_iterators/2 | 179057 ns | 178860 ns | 3818 |
| costmap_fixture/to_area_nav_grid_iterators/3 | 919363 ns | 918951 ns | 767 |
| costmap_fixture/to_area_nav_grid_iterators/4 | 49982 ns | 49965 ns | 13973 |
| costmap_fixture/to_area_nav_grid_iterators/5 | 18011 ns | 17995 ns | 37895 |
Below is the benchmark for the splitting of the footprint (continuous_footprint_generator). The generation is with ~800 microseconds way slower than a one time check of the same footprints (see above to_area_cover/4 and to_area_cover/5). These cost could be however amortized, if the generated representation can be cached. The checks is_free_fixture/continuous_footprint are slightly faster than their counter part is_free_fixture/area_generator. The discrete checks is_free_fixture/discrete_footprint offer a clear advantage over the "traditional" checks is_free_fixture/discrete_polygon.
| Benchmark | Time | CPU | Iterations |
|---|---|---|---|
| continuous_footprint_generator/4 | 144196 ns | 143942 ns | 4692 |
| continuous_footprint_generator/5 | 779311 ns | 777771 ns | 890 |
| is_free_fixture/area_generator/4 | 30192 ns | 30149 ns | 23153 |
| is_free_fixture/area_generator/5 | 9920 ns | 9913 ns | 70259 |
| is_free_fixture/discrete_polygon/4 | 18452 ns | 18430 ns | 35501 |
| is_free_fixture/discrete_polygon/5 | 4840 ns | 4834 ns | 152498 |
| is_free_fixture/continuous_footprint/4 | 20164 ns | 20139 ns | 35150 |
| is_free_fixture/continuous_footprint/5 | 9310 ns | 9299 ns | 71894 |
| is_free_fixture/discrete_footprint/4 | 3164 ns | 3161 ns | 220604 |
| is_free_fixture/discrete_footprint/5 | 696 ns | 695 ns | 1030751 |