Function main

grid_map_demos/src/iterator_benchmark.cpp:98–145

}

int main(int argc, char* argv[])
{
  GridMap map;
  map.setGeometry(Length(20.0, 20.0), 0.004, Position(0.0, 0.0));
  map.add("random");
  map["random"].setRandom();
  map.add("layer1", 0.0);
  map.add("layer2", 0.0);
  map.add("layer3", 0.0);
  map.add("layer4", 0.0);
  map.add("layer5", 0.0);
  map.add("layer6", 0.0);

  cout << "Results for iteration over " << map.getSize()(0) << " x " << map.getSize()(1) << " (" << map.getSize().prod() << ") grid cells." << endl;
  cout << "=========================================" << endl;

  clk::time_point t1 = clk::now();
  runGridMapIteratorVersion1(map, "random", "layer1");
  clk::time_point t2 = clk::now();
  cout << "Duration grid map iterator (convenient use): " << duration(t2 - t1) << " ms" << endl;

  t1 = clk::now();
  runGridMapIteratorVersion2(map, "random", "layer2");
  t2 = clk::now();
  cout << "Duration grid map iterator (direct access to data layers): " << duration(t2 - t1) << " ms" << endl;

  t1 = clk::now();
  runGridMapIteratorVersion3(map, "random", "layer3");
  t2 = clk::now();
  cout << "Duration grid map iterator (linear index): " << duration(t2 - t1) << " ms" << endl;

  t1 = clk::now();
  runEigenFunction(map, "random", "layer4");
  t2 = clk::now();
  cout << "Duration Eigen function: " << duration(t2 - t1) << " ms" <<  endl;

  t1 = clk::now();
  runCustomIndexIteration(map, "random", "layer5");
  t2 = clk::now();
  cout << "Duration custom index iteration: " << duration(t2 - t1) << " ms" <<  endl;

  t1 = clk::now();
  runCustomLinearIndexIteration(map, "random", "layer6");
  t2 = clk::now();
  cout << "Duration custom linear index iteration: " << duration(t2 - t1) << " ms" <<  endl;

  return 0;
}