Add HashGraph::createProblem benchmark

[efernandez]

bechmark results:

2020-12-03 10:18:54
Running ./benchmark_create_problem
Run on (16 X 3600 MHz CPU s)
CPU Caches:
  L1 Data 32K (x8)
  L1 Instruction 32K (x8)
  L2 Unified 512K (x8)
  L3 Unified 16384K (x2)
Load Average: 0.35, 0.14, 0.25
-------------------------------------------------------------------
Benchmark                         Time             CPU   Iterations
-------------------------------------------------------------------
BM_createProblem/200/2       123241 ns       123242 ns         5849
BM_createProblem/256/2       162335 ns       162337 ns         4371
BM_createProblem/512/2       360604 ns       360597 ns         1872
BM_createProblem/1024/2      812410 ns       812367 ns          883
BM_createProblem/2048/2     1686309 ns      1686260 ns          416
BM_createProblem/4000/2     3312365 ns      3312105 ns          203
BM_createProblem/200/4       204949 ns       204943 ns         3405
BM_createProblem/256/4       274914 ns       274907 ns         2498
BM_createProblem/512/4       617080 ns       617050 ns         1176
BM_createProblem/1024/4     1282331 ns      1282230 ns          567
BM_createProblem/2048/4     2624076 ns      2624072 ns          266
BM_createProblem/4000/4     5573755 ns      5573760 ns          126
BM_createProblem/200/8       366948 ns       366936 ns         1898
BM_createProblem/256/8       461833 ns       461824 ns         1541
BM_createProblem/512/8      1077706 ns      1077706 ns          672
BM_createProblem/1024/8     2220351 ns      2220204 ns          331
BM_createProblem/2048/8     4633878 ns      4633584 ns          152
BM_createProblem/4000/8    11401029 ns     11400688 ns           62
BM_createProblem/200/12      523023 ns       523006 ns         1398
BM_createProblem/256/12      724614 ns       724599 ns          960
BM_createProblem/512/12     1493217 ns      1493192 ns          483
BM_createProblem/1024/12    3169533 ns      3169500 ns          222
BM_createProblem/2048/12    7183788 ns      7183468 ns           95
BM_createProblem/4000/12   22026589 ns     22025445 ns           32

heaptrack results:

[efernandez]

Why are the checks failing?

For me fuse_graphs doesn't have any issues when I do:

• catkin build
• make roslint
• make run_tests

And the benchmark test dependency is included the same way as fuse_constraints does.
The only difference is that I removed the if(TARGET benchmark_create_problem) block that I don't think it's needed, but maybe I'm wrong.

[svwilliams]

roslint error

/fuse_graphs/benchmark/benchmark_create_problem.cpp:197:  when starting a new scope, { should be on a line by itself  [whitespace/braces] [4]
/fuse_graphs/benchmark/benchmark_create_problem.cpp:197:  } should be on a line by itself  [whitespace/braces] [4]

[svwilliams]

Just curious, would using fuse_graphs::HashGraph::createProblem not work here?

[efernandez]

Yeah, it does. Totally forgot I could just do that. Thanks! 😄