Add a benchmark example from one of the tests
This PR is designed to prototype a benchmark using Criterion.rs. I selected a random test (base_pose_correct()
) and ported it over to the new bench/benchmark.rs
.
@degv364, maybe select a test that is worth the benchmark?
Also according to Criterion's docs we could invoke an external script -- like the equivalent orocos-kdl on python to the rust benchmark.
Please check it out when you have time.
FYI, the benchmark runs by invoking cargo bench
and the output looks something like this:
Running target/release/deps/benchmarks-4756e26b82be4d43
base_pose time: [2.5043 us 2.5169 us 2.5314 us]
change: [-2.6007% -1.9704% -1.2183%] (p = 0.00 < 0.05)
Performance has improved.
Found 8 outliers among 100 measurements (8.00%)
4 (4.00%) high mild
4 (4.00%) high severe
Edited by daniel