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