From b24155c5261ad84f8971825cf4e102652b9d655f Mon Sep 17 00:00:00 2001 From: zhangshuai Date: Sun, 28 Apr 2019 21:55:27 +0800 Subject: [PATCH] modify_4 --- .../gazebo/physics/World.cc | 2 ++ .../gazebo/physics/World.cc | 28 ++++++++++--------- 2 files changed, 17 insertions(+), 13 deletions(-) diff --git a/Gazebo_Distributed_MPI/gazebo/physics/World.cc b/Gazebo_Distributed_MPI/gazebo/physics/World.cc index 025f193..413d0e0 100644 --- a/Gazebo_Distributed_MPI/gazebo/physics/World.cc +++ b/Gazebo_Distributed_MPI/gazebo/physics/World.cc @@ -1083,6 +1083,8 @@ void World::Update() std::cout << "===== average before_tcpTime:\t" << before_tcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; std::cout << "===== average tcpTime:\t" << tcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; std::cout << "===== average after_tcpTime:\t" << after_tcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; + double wholeTcpTime = before_tcpTime + tcpTime + after_tcpTime; + std::cout << "===== average wholeTcpTime:\t" << wholeTcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_tcpTime + tcpTime + after_tcpTime; 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; diff --git a/Gazebo_Distributed_TCP/gazebo/physics/World.cc b/Gazebo_Distributed_TCP/gazebo/physics/World.cc index da2ea15..0981397 100644 --- a/Gazebo_Distributed_TCP/gazebo/physics/World.cc +++ b/Gazebo_Distributed_TCP/gazebo/physics/World.cc @@ -1082,19 +1082,21 @@ void World::Update() if (this->dataPtr->iterations == 100000) { - std::cout << "===== average before_worldUpdateBeginTime:\t" << before_worldUpdateBeginTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average worldUpdateBeginTime:\t" << worldUpdateBeginTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average modelUpdateFuncTime:\t" << modelUpdateFuncTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average updateCollisionTime:\t" << updateCollisionTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average loggingTime:\t" << loggingTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average before_updatePhysicsTime:\t" << before_updatePhysicsTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average updatePhysicsTime:\t" << updatePhysicsTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average before_tcpTime:\t" << before_tcpTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average tcpTime:\t" << tcpTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average after_tcpTime:\t" << after_tcpTime / 100.0 << "\tms =====" << std::endl; - double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_tcpTime + tcpTime + after_tcpTime; - std::cout << "===== average wholeAddTime:\t" << wholeAddTime / 100.0 << "\tms =====" << std::endl; - std::cout << "===== average wholeUpdateTime:\t" << wholeUpdataTime / 100.0 << "\tms =====" << std::endl; + 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_tcpTime:\t" << before_tcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; + std::cout << "===== average tcpTime:\t" << tcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; + std::cout << "===== average after_tcpTime:\t" << after_tcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; + double wholeTcpTime = before_tcpTime + tcpTime + after_tcpTime; + std::cout << "===== average wholeTcpTime:\t" << wholeTcpTime * 1000.0 / this->dataPtr->iterations << "\tms =====" << std::endl; + double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_tcpTime + tcpTime + after_tcpTime; + 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; } }