From 928e41562fea7f67fb1a4a8b0cfe622df655a93e Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Mon, 3 Aug 2020 16:51:08 -0400 Subject: [PATCH] Add NOLINT markers to overly-wide non-markdown tables --- .../mesh_intersection_benchmark.cc | 59 +++++++++---------- geometry/benchmarking/render_benchmark.cc | 58 +++++++++--------- systems/analysis/runge_kutta5_integrator.cc | 12 ++-- systems/analysis/runge_kutta5_integrator.h | 8 +-- 4 files changed, 68 insertions(+), 69 deletions(-) diff --git a/geometry/benchmarking/mesh_intersection_benchmark.cc b/geometry/benchmarking/mesh_intersection_benchmark.cc index 18f3204efb54..27b180199845 100644 --- a/geometry/benchmarking/mesh_intersection_benchmark.cc +++ b/geometry/benchmarking/mesh_intersection_benchmark.cc @@ -61,36 +61,35 @@ CPU Caches: L2 Unified 256K (x28) L3 Unified 35840K (x2) Load Average: 21.52, 41.04, 26.99 -***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead. ----------------------------------------------------------------------------------------------------- -Benchmark Time CPU Iterations Line Number ----------------------------------------------------------------------------------------------------- -MeshIntersectionBenchmark/WithoutBVH/0/4/0/min_time:2.000 0.903 ms 0.903 ms 3297 [1] -MeshIntersectionBenchmark/WithoutBVH/1/4/0/min_time:2.000 5.74 ms 5.74 ms 456 [2] -MeshIntersectionBenchmark/WithoutBVH/2/4/0/min_time:2.000 19.1 ms 19.1 ms 129 [3] -MeshIntersectionBenchmark/WithoutBVH/3/4/0/min_time:2.000 530 ms 530 ms 5 [4] -MeshIntersectionBenchmark/WithoutBVH/2/0/0/min_time:2.000 15.1 ms 15.1 ms 189 [5] -MeshIntersectionBenchmark/WithoutBVH/2/1/0/min_time:2.000 15.4 ms 15.4 ms 178 [6] -MeshIntersectionBenchmark/WithoutBVH/2/2/0/min_time:2.000 15.9 ms 15.9 ms 176 [7] -MeshIntersectionBenchmark/WithoutBVH/2/3/0/min_time:2.000 18.3 ms 18.3 ms 150 [8] -MeshIntersectionBenchmark/WithoutBVH/2/4/1/min_time:2.000 19.1 ms 19.1 ms 147 [9] -MeshIntersectionBenchmark/WithoutBVH/2/4/2/min_time:2.000 19.0 ms 19.0 ms 147 [10] -MeshIntersectionBenchmark/WithoutBVH/2/4/3/min_time:2.000 19.2 ms 19.2 ms 145 [11] -MeshIntersectionBenchmark/WithoutBVH/2/3/1/min_time:2.000 17.9 ms 17.9 ms 156 [12] -MeshIntersectionBenchmark/WithoutBVH/2/2/2/min_time:2.000 15.6 ms 15.6 ms 180 [13] -MeshIntersectionBenchmark/___WithBVH/0/4/0/min_time:2.000 0.629 ms 0.629 ms 4408 [14] -MeshIntersectionBenchmark/___WithBVH/1/4/0/min_time:2.000 2.15 ms 2.15 ms 1328 [15] -MeshIntersectionBenchmark/___WithBVH/2/4/0/min_time:2.000 3.14 ms 3.14 ms 893 [16] -MeshIntersectionBenchmark/___WithBVH/3/4/0/min_time:2.000 14.3 ms 14.3 ms 192 [17] -MeshIntersectionBenchmark/___WithBVH/2/0/0/min_time:2.000 0.000 ms 0.000 ms 54932081 [18] -MeshIntersectionBenchmark/___WithBVH/2/1/0/min_time:2.000 0.023 ms 0.023 ms 119450 [19] -MeshIntersectionBenchmark/___WithBVH/2/2/0/min_time:2.000 0.119 ms 0.119 ms 23142 [20] -MeshIntersectionBenchmark/___WithBVH/2/3/0/min_time:2.000 1.87 ms 1.87 ms 1486 [21] -MeshIntersectionBenchmark/___WithBVH/2/4/1/min_time:2.000 2.95 ms 2.95 ms 944 [22] -MeshIntersectionBenchmark/___WithBVH/2/4/2/min_time:2.000 3.15 ms 3.15 ms 894 [23] -MeshIntersectionBenchmark/___WithBVH/2/4/3/min_time:2.000 3.21 ms 3.21 ms 871 [24] -MeshIntersectionBenchmark/___WithBVH/2/3/1/min_time:2.000 1.94 ms 1.94 ms 1448 [25] -MeshIntersectionBenchmark/___WithBVH/2/2/2/min_time:2.000 0.127 ms 0.127 ms 22007 [26] +---------------------------------------------------------------------------------------------------- // NOLINT(*) +Benchmark Time CPU Iterations Line Number // NOLINT(*) +---------------------------------------------------------------------------------------------------- // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/0/4/0/min_time:2.000 0.903 ms 0.903 ms 3297 [1] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/1/4/0/min_time:2.000 5.74 ms 5.74 ms 456 [2] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/4/0/min_time:2.000 19.1 ms 19.1 ms 129 [3] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/3/4/0/min_time:2.000 530 ms 530 ms 5 [4] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/0/0/min_time:2.000 15.1 ms 15.1 ms 189 [5] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/1/0/min_time:2.000 15.4 ms 15.4 ms 178 [6] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/2/0/min_time:2.000 15.9 ms 15.9 ms 176 [7] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/3/0/min_time:2.000 18.3 ms 18.3 ms 150 [8] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/4/1/min_time:2.000 19.1 ms 19.1 ms 147 [9] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/4/2/min_time:2.000 19.0 ms 19.0 ms 147 [10] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/4/3/min_time:2.000 19.2 ms 19.2 ms 145 [11] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/3/1/min_time:2.000 17.9 ms 17.9 ms 156 [12] // NOLINT(*) +MeshIntersectionBenchmark/WithoutBVH/2/2/2/min_time:2.000 15.6 ms 15.6 ms 180 [13] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/0/4/0/min_time:2.000 0.629 ms 0.629 ms 4408 [14] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/1/4/0/min_time:2.000 2.15 ms 2.15 ms 1328 [15] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/4/0/min_time:2.000 3.14 ms 3.14 ms 893 [16] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/3/4/0/min_time:2.000 14.3 ms 14.3 ms 192 [17] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/0/0/min_time:2.000 0.000 ms 0.000 ms 54932081 [18] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/1/0/min_time:2.000 0.023 ms 0.023 ms 119450 [19] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/2/0/min_time:2.000 0.119 ms 0.119 ms 23142 [20] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/3/0/min_time:2.000 1.87 ms 1.87 ms 1486 [21] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/4/1/min_time:2.000 2.95 ms 2.95 ms 944 [22] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/4/2/min_time:2.000 3.15 ms 3.15 ms 894 [23] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/4/3/min_time:2.000 3.21 ms 3.21 ms 871 [24] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/3/1/min_time:2.000 1.94 ms 1.94 ms 1448 [25] // NOLINT(*) +MeshIntersectionBenchmark/___WithBVH/2/2/2/min_time:2.000 0.127 ms 0.127 ms 22007 [26] // NOLINT(*) Resulting contact surface sizes: - WithoutBVH/0/4/0: 93.76 m^2, 448 triangles - WithoutBVH/1/4/0: 93.76 m^2, 1592 triangles diff --git a/geometry/benchmarking/render_benchmark.cc b/geometry/benchmarking/render_benchmark.cc index 125912f79a48..bae0d5726dd2 100644 --- a/geometry/benchmarking/render_benchmark.cc +++ b/geometry/benchmarking/render_benchmark.cc @@ -51,34 +51,33 @@ CPU Caches: L2 Unified 256K (x6) L3 Unified 12288K (x1) Load Average: 9.75, 4.65, 3.26 -***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead. ------------------------------------------------------------------------------------------------------- -Benchmark Time CPU Iterations ------------------------------------------------------------------------------------------------------- -RenderEngineBenchmark/VtkColor/1/1/640/480 1.11 ms 1.08 ms 514 -RenderEngineBenchmark/VtkColor/4/1/640/480 1.05 ms 1.05 ms 684 -RenderEngineBenchmark/VtkColor/8/1/640/480 1.10 ms 1.09 ms 610 -RenderEngineBenchmark/VtkColor/1/10/640/480 10.5 ms 10.1 ms 67 -RenderEngineBenchmark/VtkColor/1/1/320/240 0.391 ms 0.390 ms 1567 -RenderEngineBenchmark/VtkColor/1/1/1280/960 3.13 ms 3.13 ms 223 -RenderEngineBenchmark/VtkColor/1/1/2560/1920 12.2 ms 12.2 ms 49 -RenderEngineBenchmark/VtkDepth/1/1/640/480 1.35 ms 1.35 ms 484 -RenderEngineBenchmark/VtkDepth/1/10/640/480 13.0 ms 13.0 ms 50 -RenderEngineBenchmark/VtkLabel/1/1/640/480 1.45 ms 1.45 ms 464 -RenderEngineBenchmark/VtkLabel/1/10/640/480 26.1 ms 25.3 ms 37 -RenderEngineBenchmark/OsprayRayColor/1/1/640/480 23.4 ms 22.7 ms 33 -RenderEngineBenchmark/OsprayRayColor/4/1/640/480 28.8 ms 27.4 ms 23 -RenderEngineBenchmark/OsprayRayColor/8/1/640/480 34.4 ms 32.9 ms 17 -RenderEngineBenchmark/OsprayRayColor/1/10/640/480 193 ms 174 ms 3 -RenderEngineBenchmark/OsprayRayColor/1/1/320/240 5.16 ms 5.09 ms 120 -RenderEngineBenchmark/OsprayRayColor/1/1/1280/960 67.9 ms 65.2 ms 11 -RenderEngineBenchmark/OsprayRayColor/1/1/2560/1920 283 ms 267 ms 2 -RenderEngineBenchmark/OsprayRayColorShadowsOff/1/1/640/480 15.7 ms 15.7 ms 43 -RenderEngineBenchmark/OsprayRayColorShadowsOff/4/1/640/480 20.0 ms 19.6 ms 30 -RenderEngineBenchmark/OsprayRayColorShadowsOff/8/1/640/480 25.2 ms 25.2 ms 28 -RenderEngineBenchmark/OsprayRayColorShadowsOff/1/10/640/480 162 ms 159 ms 4 -RenderEngineBenchmark/OsprayPathColor/1/1/640/480 36.2 ms 35.3 ms 20 -RenderEngineBenchmark/OsprayPathColor/1/10/640/480 351 ms 345 ms 2 +------------------------------------------------------------------------------------------------------ // NOLINT(*) +Benchmark Time CPU Iterations // NOLINT(*) +------------------------------------------------------------------------------------------------------ // NOLINT(*) +RenderEngineBenchmark/VtkColor/1/1/640/480 1.11 ms 1.08 ms 514 // NOLINT(*) +RenderEngineBenchmark/VtkColor/4/1/640/480 1.05 ms 1.05 ms 684 // NOLINT(*) +RenderEngineBenchmark/VtkColor/8/1/640/480 1.10 ms 1.09 ms 610 // NOLINT(*) +RenderEngineBenchmark/VtkColor/1/10/640/480 10.5 ms 10.1 ms 67 // NOLINT(*) +RenderEngineBenchmark/VtkColor/1/1/320/240 0.391 ms 0.390 ms 1567 // NOLINT(*) +RenderEngineBenchmark/VtkColor/1/1/1280/960 3.13 ms 3.13 ms 223 // NOLINT(*) +RenderEngineBenchmark/VtkColor/1/1/2560/1920 12.2 ms 12.2 ms 49 // NOLINT(*) +RenderEngineBenchmark/VtkDepth/1/1/640/480 1.35 ms 1.35 ms 484 // NOLINT(*) +RenderEngineBenchmark/VtkDepth/1/10/640/480 13.0 ms 13.0 ms 50 // NOLINT(*) +RenderEngineBenchmark/VtkLabel/1/1/640/480 1.45 ms 1.45 ms 464 // NOLINT(*) +RenderEngineBenchmark/VtkLabel/1/10/640/480 26.1 ms 25.3 ms 37 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/1/1/640/480 23.4 ms 22.7 ms 33 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/4/1/640/480 28.8 ms 27.4 ms 23 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/8/1/640/480 34.4 ms 32.9 ms 17 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/1/10/640/480 193 ms 174 ms 3 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/1/1/320/240 5.16 ms 5.09 ms 120 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/1/1/1280/960 67.9 ms 65.2 ms 11 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColor/1/1/2560/1920 283 ms 267 ms 2 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColorShadowsOff/1/1/640/480 15.7 ms 15.7 ms 43 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColorShadowsOff/4/1/640/480 20.0 ms 19.6 ms 30 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColorShadowsOff/8/1/640/480 25.2 ms 25.2 ms 28 // NOLINT(*) +RenderEngineBenchmark/OsprayRayColorShadowsOff/1/10/640/480 162 ms 159 ms 4 // NOLINT(*) +RenderEngineBenchmark/OsprayPathColor/1/1/640/480 36.2 ms 35.3 ms 20 // NOLINT(*) +RenderEngineBenchmark/OsprayPathColor/1/10/640/480 351 ms 345 ms 2 // NOLINT(*) ``` Additional configuration is possible via the following flags: @@ -91,7 +90,8 @@ RenderEngineBenchmark/OsprayPathColor/1/10/640/480 351 ms For example: ``` - bazel run //geometry/benchmarking:render_benchmark -- --save_image_path="/tmp" --show_window=true --samples_per_pixel=100 + bazel run //geometry/benchmarking:render_benchmark -- \ + --save_image_path="/tmp" --show_window=true --samples_per_pixel=100 ```

Interpreting the benchmark

diff --git a/systems/analysis/runge_kutta5_integrator.cc b/systems/analysis/runge_kutta5_integrator.cc index fb6f2e26ce44..917861307479 100644 --- a/systems/analysis/runge_kutta5_integrator.cc +++ b/systems/analysis/runge_kutta5_integrator.cc @@ -60,12 +60,12 @@ bool RungeKutta5Integrator::DoStep(const T& h) { 1/5 (c2) | 1/5 (a21) 3/10 (c3) | 3/40 (a31) 9/40 (a32) 4/5 (c4) | 44/45 (a41) -56/15 (a42) 32/9 (a43) - 8/9 (c5) | 19372/6561 (a51) −25360/2187 (a52) 64448/6561 (a53) −212/729 (a54) - 1 (c6) | 9017/3168 (a61) −355/33 (a62) 46732/5247 (a63) 49/176 (a64) −5103/18656 (a65) - 1 (c7) | 35/384 (a71) 0 (a72) 500/1113 (a73) 125/192 (a74) −2187/6784 (a75) 11/84 (a76) - ------------------------------------------------------------------------------------------------------------------------------------ - 35/384 (b1) 0 (b2) 500/1113 (b3) 125/192 (b4) −2187/6784 (b5) 11/84 (b6) 0 (b7) - 5179/57600 (d1) 0 (d2) 7571/16695 (d3) 393/640 (d4) −92097/339200 (d5) 187/2100 (d6) 1/40 (d7) + 8/9 (c5) | 19372/6561 (a51) −25360/2187 (a52) 64448/6561 (a53) −212/729 (a54) // NOLINT(*) + 1 (c6) | 9017/3168 (a61) −355/33 (a62) 46732/5247 (a63) 49/176 (a64) −5103/18656 (a65) // NOLINT(*) + 1 (c7) | 35/384 (a71) 0 (a72) 500/1113 (a73) 125/192 (a74) −2187/6784 (a75) 11/84 (a76) // NOLINT(*) + ------------------------------------------------------------------------------------------------------------------------------------ // NOLINT(*) + 35/384 (b1) 0 (b2) 500/1113 (b3) 125/192 (b4) −2187/6784 (b5) 11/84 (b6) 0 (b7) // NOLINT(*) + 5179/57600 (d1) 0 (d2) 7571/16695 (d3) 393/640 (d4) −92097/339200 (d5) 187/2100 (d6) 1/40 (d7) // NOLINT(*) */ // Save the continuous state at t₀. diff --git a/systems/analysis/runge_kutta5_integrator.h b/systems/analysis/runge_kutta5_integrator.h index a7938b9aaaf0..6fc65560246f 100644 --- a/systems/analysis/runge_kutta5_integrator.h +++ b/systems/analysis/runge_kutta5_integrator.h @@ -25,10 +25,10 @@ namespace systems { 4/5 | 44/45 -56/15 32/9 8/9 | 19372/6561 −25360/2187 64448/6561 −212/729 1 | 9017/3168 −355/33 46732/5247 49/176 −5103/18656 - 1 | 35/384 0 500/1113 125/192 −2187/6784 11/84 - --------------------------------------------------------------------------------- - 35/384 0 500/1113 125/192 −2187/6784 11/84 0 - 5179/57600 0 7571/16695 393/640 −92097/339200 187/2100 1/40 + 1 | 35/384 0 500/1113 125/192 −2187/6784 11/84 + --------------------------------------------------------------------------------- + 35/384 0 500/1113 125/192 −2187/6784 11/84 0 + 5179/57600 0 7571/16695 393/640 −92097/339200 187/2100 1/40 where the second to last row is the 5th-order (propagated) solution and the last row gives a 2nd-order accurate solution used for error control.