同步KDL工程源码到云仓库

kdl-wasm/web/tests/kdl/performance.test.ts

@@ -0,0 +1,23 @@
+import { describe, expect, it } from "vitest";
+import { runPerformanceBaseline } from "../../src/kdl/performanceBaseline.js";
+
+describe("KDL performance baseline", () => {
+  it("records TypedArray and batch baseline metrics", async () => {
+    const result = await runPerformanceBaseline();
+    const metrics = Object.fromEntries(result.metrics.map((metric) => [metric.name, metric]));
+
+    expect(result.ok).toBe(true);
+    expect(result.diagnostics).toEqual([]);
+    expect(metrics.robot_init_6_axis?.totalMs).toBeLessThanOrEqual(1_000);
+    expect(metrics.fk_pose7_typed_array?.averageMs).toBeLessThanOrEqual(1);
+    expect(metrics.ik_planar_average?.averageMs).toBeLessThanOrEqual(10);
+    expect(metrics.reachability_batch_1000).toMatchObject({
+      points: 1_000,
+      ok: true
+    });
+    expect(metrics.trajectory_10s_4ms).toMatchObject({
+      ok: true
+    });
+    expect(metrics.trajectory_10s_4ms?.points).toBeGreaterThanOrEqual(2_500);
+  });
+});