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1. MPI_Allgatherv, version 0.4.5 

2. print all Gazebo time data
This commit is contained in:
zhangshuai 2019-07-09 10:25:58 +08:00
parent 75dfd7e757
commit 6bf9cf2bb2
1 changed files with 19 additions and 19 deletions
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38
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -1050,25 +1050,25 @@ void World::Update()
// std::cout << "===== end iterations:\t" << this->dataPtr->iterations << std::endl;
if (this->dataPtr->iterations == 100000)
{
if (this->gazeboLocalID == 0)
{
std::cout << "===== average before_worldUpdateBeginTime:\t" << before_worldUpdateBeginTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average worldUpdateBeginTime:\t" << worldUpdateBeginTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average modelUpdateFuncTime:\t" << modelUpdateFuncTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average updateCollisionTime:\t" << updateCollisionTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average loggingTime:\t" << loggingTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average before_updatePhysicsTime:\t" << before_updatePhysicsTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average updatePhysicsTime:\t" << updatePhysicsTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average before_mpiTime:\t" << before_mpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average mpiTime:\t" << mpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average after_mpiTime:\t" << after_mpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
double wholeMpiTime = before_mpiTime + mpiTime + after_mpiTime;
std::cout << "===== average wholeMpiTime:\t" << wholeMpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_mpiTime + mpiTime + after_mpiTime;
std::cout << "===== average wholeAddTime:\t" << wholeAddTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average wholeUpdateTime:\t" << wholeUpdataTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl;
std::cout << "===== average RTF:\t" << this->GetSimTime().Double() / this->GetRealTime().Double() << "\t =====" << std::endl;
}
// if (this->gazeboLocalID == 0)
// {
std::cout << "===== average before_worldUpdateBeginTime:\t" << before_worldUpdateBeginTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average worldUpdateBeginTime:\t" << worldUpdateBeginTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average modelUpdateFuncTime:\t" << modelUpdateFuncTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average updateCollisionTime:\t" << updateCollisionTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average loggingTime:\t" << loggingTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average before_updatePhysicsTime:\t" << before_updatePhysicsTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average updatePhysicsTime:\t" << updatePhysicsTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average before_mpiTime:\t" << before_mpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average mpiTime:\t" << mpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average after_mpiTime:\t" << after_mpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
double wholeMpiTime = before_mpiTime + mpiTime + after_mpiTime;
std::cout << "===== average wholeMpiTime:\t" << wholeMpiTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_mpiTime + mpiTime + after_mpiTime;
std::cout << "===== average wholeAddTime:\t" << wholeAddTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average wholeUpdateTime:\t" << wholeUpdataTime * 1000.0 / this->dataPtr->iterations << "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average RTF:\t" << this->GetSimTime().Double() / this->GetRealTime().Double() << "\t =====\t" << this->gazeboLocalID << std::endl;
// }
}
#endif
}