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jwnimmer-tri merged 1 commit into from
Aug 4, 2020
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Add NOLINT markers to overly-wide non-markdown tables #13805

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59 changes: 29 additions & 30 deletions geometry/benchmarking/mesh_intersection_benchmark.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
58 changes: 29 additions & 29 deletions geometry/benchmarking/render_benchmark.cc
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand All @@ -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
```

<h4>Interpreting the benchmark</h4>
Expand Down
12 changes: 6 additions & 6 deletions systems/analysis/runge_kutta5_integrator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -60,12 +60,12 @@ bool RungeKutta5Integrator<T>::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.
Expand Down
8 changes: 4 additions & 4 deletions systems/analysis/runge_kutta5_integrator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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 <!-- NOLINT(*) -->
--------------------------------------------------------------------------------- <!-- NOLINT(*) -->
35/384 0 500/1113 125/192 −2187/6784 11/84 0 <!-- NOLINT(*) -->
5179/57600 0 7571/16695 393/640 −92097/339200 187/2100 1/40 <!-- NOLINT(*) -->
</pre>
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.
Expand Down