Add a benchmark for RobotTrajectory creation and timing. (#2530)

moveit_core/trajectory_processing/CMakeLists.txt

@@ -26,6 +26,9 @@ target_link_libraries(moveit_trajectory_processing
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_google_benchmark REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(benchmark REQUIRED)
   if(WIN32)
     # TODO add windows paths
     # set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
@@ -41,4 +44,15 @@ if(BUILD_TESTING)
     moveit_trajectory_processing
     moveit_test_utils
   )
+
+  ament_add_google_benchmark(
+    robot_trajectory_benchmark
+    test/robot_trajectory_benchmark.cpp)
+  target_link_libraries(robot_trajectory_benchmark
+    moveit_robot_model
+    moveit_test_utils
+    moveit_robot_state
+    moveit_robot_trajectory
+    moveit_trajectory_processing
+  )
 endif()

moveit_core/trajectory_processing/test/robot_trajectory_benchmark.cpp

@@ -0,0 +1,135 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2023, PickNik Robotics.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Mario Prats */
+
+// To run this benchmark, 'cd' to the build/moveit_core/trajectory_processing directory and directly run the binary.
+
+#include <benchmark/benchmark.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
+
+// Robot and planning group to use in the benchmarks.
+constexpr char TEST_ROBOT[] = "panda";
+constexpr char TEST_GROUP[] = "panda_arm";
+
+// Benchmark manual creation of a trajectory with a given number of waypoints.
+// This includes creating and updating the individual RobotState's.
+static void robotTrajectoryCreate(benchmark::State& st)
+{
+  int n_states = st.range(0);
+  const moveit::core::RobotModelPtr& robot_model = moveit::core::loadTestingRobotModel(TEST_ROBOT);
+
+  // Make sure the group exists, otherwise exit early with an error.
+  if (!robot_model->hasJointModelGroup(TEST_GROUP))
+  {
+    st.SkipWithError("The planning group doesn't exist.");
+    return;
+  }
+  auto* group = robot_model->getJointModelGroup(TEST_GROUP);
+
+  // Robot state.
+  moveit::core::RobotState robot_state(robot_model);
+  robot_state.setToDefaultValues();
+
+  for (auto _ : st)
+  {
+    auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, group);
+    for (int i = 0; i < n_states; ++i)
+    {
+      // Create a sinusoidal test trajectory for all the joints.
+      const double joint_value = std::sin(0.001 * i);
+      const double duration_from_previous = 0.1;
+
+      moveit::core::RobotState robot_state_waypoint(robot_state);
+      Eigen::VectorXd joint_values = Eigen::VectorXd::Constant(group->getActiveVariableCount(), joint_value);
+      robot_state_waypoint.setJointGroupActivePositions(group, joint_values);
+      trajectory->addSuffixWayPoint(robot_state_waypoint, duration_from_previous);
+    }
+  }
+}
+
+// Benchmark timing of a trajectory with a given number of waypoints, via TOTG.
+static void robotTrajectoryTiming(benchmark::State& st)
+{
+  int n_states = st.range(0);
+  const moveit::core::RobotModelPtr& robot_model = moveit::core::loadTestingRobotModel(TEST_ROBOT);
+
+  // Make sure the group exists, otherwise exit early with an error.
+  if (!robot_model->hasJointModelGroup(TEST_GROUP))
+  {
+    st.SkipWithError("The planning group doesn't exist.");
+    return;
+  }
+  auto* group = robot_model->getJointModelGroup(TEST_GROUP);
+
+  // Robot state.
+  moveit::core::RobotState robot_state(robot_model);
+  robot_state.setToDefaultValues();
+
+  // Trajectory.
+  auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, group);
+  Eigen::VectorXd joint_values = Eigen::VectorXd::Zero(group->getActiveVariableCount());
+  for (int i = 0; i < n_states; ++i)
+  {
+    // Create a sinusoidal test trajectory for all the joints.
+    const double joint_value = std::sin(0.001 * i);
+    const double duration_from_previous = 0.0;
+
+    moveit::core::RobotState robot_state_waypoint(robot_state);
+    joint_values = Eigen::VectorXd::Constant(group->getActiveVariableCount(), joint_value);
+    robot_state_waypoint.setJointGroupActivePositions(group, joint_values);
+    trajectory->addSuffixWayPoint(robot_state_waypoint, duration_from_previous);
+  }
+
+  // Add some velocity / acceleration limits, which are needed for TOTG.
+  std::unordered_map<std::string, double> velocity_limits, acceleration_limits;
+  for (const auto& joint_name : group->getActiveJointModelNames())
+  {
+    velocity_limits[joint_name] = 1.0;
+    acceleration_limits[joint_name] = 2.0;
+  }
+
+  for (auto _ : st)
+  {
+    trajectory_processing::TimeOptimalTrajectoryGeneration totg(/*path_tolerance=*/0.0);
+    totg.computeTimeStamps(*trajectory, velocity_limits, acceleration_limits);
+  }
+}
+
+BENCHMARK(robotTrajectoryCreate)->RangeMultiplier(10)->Range(10, 100000)->Unit(benchmark::kMillisecond);
+BENCHMARK(robotTrajectoryTiming)->RangeMultiplier(10)->Range(10, 20000)->Unit(benchmark::kMillisecond);