remove prints

src/ipopt_problem.cpp

@@ -30,25 +30,26 @@ minimum_time_bouded_acceleration(gsplines::functions::FunctionExpression &_trj,
   nlp.AddConstraintSet(diffeo_con);
   nlp.AddConstraintSet(acc_con);
   nlp.AddCostSet(cost_function);
-  nlp.PrintCurrent();
-
-  printf("-----------------------------\n");
-  printf("Number of variables %i \n", nlp.GetNumberOfOptimizationVariables());
-  printf("Number of constraints %i \n", nlp.GetNumberOfConstraints());
-  printf("-----------------------------\n");
-
+  // nlp.PrintCurrent();
+  /*
+    printf("-----------------------------\n");
+    printf("Number of variables %i \n", nlp.GetNumberOfOptimizationVariables());
+    printf("Number of constraints %i \n", nlp.GetNumberOfConstraints());
+    printf("-----------------------------\n");
+  */
   // 3. Instantiate ipopt solver
   ifopt::IpoptSolver ipopt;
   // 3.1 Customize the solver
   ipopt.SetOption("linear_solver", "mumps");
   ipopt.SetOption("jacobian_approximation", "exact");
   ipopt.SetOption("hessian_approximation", "limited-memory");
+  ipopt.SetOption("print_level", 0);
 
   // 4. Ask the solver to solve the problem
   ipopt.Solve(nlp);
   Eigen::VectorXd x = nlp.GetOptVariables()->GetValues();
 
-  printf("Ts = %lf     sf = %lf  ti = %lf\n", x(0), x(1), _ti);
+  // printf("Ts = %lf     sf = %lf  ti = %lf\n", x(0), x(1), _ti);
 
   return get_diffeo(_ti, x(0), x(1));
 }

tests/minimum_time_bounded_acceleration.cpp

@@ -1,3 +1,4 @@
+#include <chrono> // for high_resolution_clock
 #include <gsplines/BasisLegendre.hpp>
 #include <gsplines/ipopt_solver.hpp>
 #include <iostream>
@@ -64,5 +65,31 @@ int main() {
   assert(vel_value < 1.0e-9);
   assert(acc_value < 1.0e-9);
 
+  double mean_time = 0.0;
+  std::size_t number_of_tests = 200;
+  for (std::size_t _ = 0; _ < number_of_tests; _++) {
+    auto t1 = std::chrono::high_resolution_clock::now();
+    gsplines::functions::FunctionExpression _diffeo =
+        minimum_time_bouded_acceleration(trj, ti, 10);
+    gsplines::functions::FunctionExpression _diffeo_diff_1 = _diffeo.derivate();
+    gsplines::functions::FunctionExpression _diffeo_diff_2 =
+        _diffeo_diff_1.derivate();
+
+    double _T = diffeo.get_domain().second;
+
+    Eigen::VectorXd _time_span =
+        Eigen::VectorXd::LinSpaced((T - ti) / 0.01, ti, T);
+
+    Eigen::MatrixXd _diffeo_hist = diffeo(time_span);
+
+    Eigen::MatrixXd _diffeo_diff_1_hist = diffeo_diff_1(time_span);
+    Eigen::MatrixXd _diffeo_diff_2_hist = diffeo_diff_2(time_span);
+    auto t2 = std::chrono::high_resolution_clock::now();
+    std::chrono::duration<double, std::milli> ms_double = t2 - t1;
+    mean_time += ms_double.count();
+  }
+  mean_time /= number_of_tests;
+  assert(mean_time < 100.0);
+  printf("total execution time is %+14.7e\n", mean_time);
   return 0;
 }

tests/torque_constraint.cpp

@@ -82,6 +82,7 @@ int main() {
   Eigen::MatrixXd show_matrix(jac_nom.rows(), 1 + 3 * jac_nom.cols());
   show_matrix << numerate, jac_nom, jac_test, err_mat;
   std::cout << "\n ----- \n" << show_matrix << "\n ----- \n";
+  fflush(stdout);
 
   double max_err =
       err_mat.array().abs().maxCoeff() / jac_nom.array().abs().maxCoeff();