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00297d6 draft unit test
murrayrm23cb793 convert to pytest
murrayrm8711900 initial minimal implementation (working)
murrayrm6f9c092 minor refactoring plus additional comments on method
murrayrmbd322e7 remove polytope dependence; implement MPC iosys w/ notebook example
murrayrm0d14642 add'l unit tests, cache sim results, equality constraint support
murrayrm2456f36 slight code refactoring + docstrings + initial doc/obc.rst
murrayrm769eaa5 add info/debug messages + code refactor, result object
murrayrmea2884d slight refactoring of cost functions + example tweaks
murrayrm9494092 rename obc to optimal, new examples/unit tests
murrayrmacc4439 update unit tests for speed and coverage
murrayrm5f261cc updated argument checking + unit tests (and coverage) + fixes
murrayrm980fa5f PEP8 cleanup
murrayrm7741fe9 add basis functions, solver options, examples/tests
murrayrmdf91cac set up benchmarks/profiling via asv
murrayrmd735f79 add unit tests for additional coverage
murrayrm5838c2f clean up steering-optimal example
murrayrmc49ee90 updated benchmarks + performance tweaks
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5 changes: 4 additions & 1 deletion.gitignore
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161 changes: 161 additions & 0 deletionsasv.conf.json
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| { | ||
| // The version of the config file format. Do not change, unless | ||
| // you know what you are doing. | ||
| "version": 1, | ||
| // The name of the project being benchmarked | ||
| "project": "python-control", | ||
| // The project's homepage | ||
| "project_url": "http://python-control.org/", | ||
| // The URL or local path of the source code repository for the | ||
| // project being benchmarked | ||
| "repo": ".", | ||
| // The Python project's subdirectory in your repo. If missing or | ||
| // the empty string, the project is assumed to be located at the root | ||
| // of the repository. | ||
| // "repo_subdir": ".", | ||
| // Customizable commands for building, installing, and | ||
| // uninstalling the project. See asv.conf.json documentation. | ||
| // | ||
| // "install_command": ["in-dir={env_dir} python -mpip install {wheel_file}"], | ||
| // "uninstall_command": ["return-code=any python -mpip uninstall -y {project}"], | ||
| "build_command": [ | ||
| "python make_version.py", | ||
| "python setup.py build", | ||
| "PIP_NO_BUILD_ISOLATION=false python -mpip wheel --no-deps --no-index -w {build_cache_dir} {build_dir}" | ||
| ], | ||
| // List of branches to benchmark. If not provided, defaults to "master" | ||
| // (for git) or "default" (for mercurial). | ||
| // "branches": ["master"], // for git | ||
| // "branches": ["default"], // for mercurial | ||
| // The DVCS being used. If not set, it will be automatically | ||
| // determined from "repo" by looking at the protocol in the URL | ||
| // (if remote), or by looking for special directories, such as | ||
| // ".git" (if local). | ||
| // "dvcs": "git", | ||
| // The tool to use to create environments. May be "conda", | ||
| // "virtualenv" or other value depending on the plugins in use. | ||
| // If missing or the empty string, the tool will be automatically | ||
| // determined by looking for tools on the PATH environment | ||
| // variable. | ||
| "environment_type": "conda", | ||
| // timeout in seconds for installing any dependencies in environment | ||
| // defaults to 10 min | ||
| //"install_timeout": 600, | ||
| // the base URL to show a commit for the project. | ||
| "show_commit_url": "http://github.com/python-control/python-control/commit/", | ||
| // The Pythons you'd like to test against. If not provided, defaults | ||
| // to the current version of Python used to run `asv`. | ||
| // "pythons": ["2.7", "3.6"], | ||
| // The list of conda channel names to be searched for benchmark | ||
| // dependency packages in the specified order | ||
| // "conda_channels": ["conda-forge", "defaults"], | ||
| // The matrix of dependencies to test. Each key is the name of a | ||
| // package (in PyPI) and the values are version numbers. An empty | ||
| // list or empty string indicates to just test against the default | ||
| // (latest) version. null indicates that the package is to not be | ||
| // installed. If the package to be tested is only available from | ||
| // PyPi, and the 'environment_type' is conda, then you can preface | ||
| // the package name by 'pip+', and the package will be installed via | ||
| // pip (with all the conda available packages installed first, | ||
| // followed by the pip installed packages). | ||
| // | ||
| // "matrix": { | ||
| // "numpy": ["1.6", "1.7"], | ||
| // "six": ["", null], // test with and without six installed | ||
| // "pip+emcee": [""], // emcee is only available for install with pip. | ||
| // }, | ||
| // Combinations of libraries/python versions can be excluded/included | ||
| // from the set to test. Each entry is a dictionary containing additional | ||
| // key-value pairs to include/exclude. | ||
| // | ||
| // An exclude entry excludes entries where all values match. The | ||
| // values are regexps that should match the whole string. | ||
| // | ||
| // An include entry adds an environment. Only the packages listed | ||
| // are installed. The 'python' key is required. The exclude rules | ||
| // do not apply to includes. | ||
| // | ||
| // In addition to package names, the following keys are available: | ||
| // | ||
| // - python | ||
| // Python version, as in the *pythons* variable above. | ||
| // - environment_type | ||
| // Environment type, as above. | ||
| // - sys_platform | ||
| // Platform, as in sys.platform. Possible values for the common | ||
| // cases: 'linux2', 'win32', 'cygwin', 'darwin'. | ||
| // | ||
| // "exclude": [ | ||
| // {"python": "3.2", "sys_platform": "win32"}, // skip py3.2 on windows | ||
| // {"environment_type": "conda", "six": null}, // don't run without six on conda | ||
| // ], | ||
| // | ||
| // "include": [ | ||
| // // additional env for python2.7 | ||
| // {"python": "2.7", "numpy": "1.8"}, | ||
| // // additional env if run on windows+conda | ||
| // {"platform": "win32", "environment_type": "conda", "python": "2.7", "libpython": ""}, | ||
| // ], | ||
| // The directory (relative to the current directory) that benchmarks are | ||
| // stored in. If not provided, defaults to "benchmarks" | ||
| // "benchmark_dir": "benchmarks", | ||
| // The directory (relative to the current directory) to cache the Python | ||
| // environments in. If not provided, defaults to "env" | ||
| "env_dir": ".asv/env", | ||
| // The directory (relative to the current directory) that raw benchmark | ||
| // results are stored in. If not provided, defaults to "results". | ||
| "results_dir": ".asv/results", | ||
| // The directory (relative to the current directory) that the html tree | ||
| // should be written to. If not provided, defaults to "html". | ||
| "html_dir": ".asv/html", | ||
| // The number of characters to retain in the commit hashes. | ||
| // "hash_length": 8, | ||
| // `asv` will cache results of the recent builds in each | ||
| // environment, making them faster to install next time. This is | ||
| // the number of builds to keep, per environment. | ||
| // "build_cache_size": 2, | ||
| // The commits after which the regression search in `asv publish` | ||
| // should start looking for regressions. Dictionary whose keys are | ||
| // regexps matching to benchmark names, and values corresponding to | ||
| // the commit (exclusive) after which to start looking for | ||
| // regressions. The default is to start from the first commit | ||
| // with results. If the commit is `null`, regression detection is | ||
| // skipped for the matching benchmark. | ||
| // | ||
| // "regressions_first_commits": { | ||
| // "some_benchmark": "352cdf", // Consider regressions only after this commit | ||
| // "another_benchmark": null, // Skip regression detection altogether | ||
| // }, | ||
| // The thresholds for relative change in results, after which `asv | ||
| // publish` starts reporting regressions. Dictionary of the same | ||
| // form as in ``regressions_first_commits``, with values | ||
| // indicating the thresholds. If multiple entries match, the | ||
| // maximum is taken. If no entry matches, the default is 5%. | ||
| // | ||
| // "regressions_thresholds": { | ||
| // "some_benchmark": 0.01, // Threshold of 1% | ||
| // "another_benchmark": 0.5, // Threshold of 50% | ||
| // }, | ||
| } |
39 changes: 39 additions & 0 deletionsbenchmarks/README
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| This directory contains various scripts that can be used to measure the | ||
| performance of the python-control package. The scripts are intended to be | ||
| used with the airspeed velocity package (https://pypi.org/project/asv/) and | ||
| are mainly intended for use by developers in identfying potential | ||
| improvements to their code. | ||
| Running benchmarks | ||
| ------------------ | ||
| To run the benchmarks listed here against the current (uncommitted) code, | ||
| you can use the following command from the root directory of the repository: | ||
| PYTHONPATH=`pwd` asv run --python=python | ||
| You can also run benchmarks against specific commits usuing | ||
| asv run <range> | ||
| where <range> is a range of commits to benchmark. To check against the HEAD | ||
| of the branch that is currently checked out, use | ||
| asv run HEAD^! | ||
| Code profiling | ||
| -------------- | ||
| You can also use the benchmarks to profile code and look for bottlenecks. | ||
| To profile a given test against the current (uncommitted) code use | ||
| PYTHONPATH=`pwd` asv profile --python=python <file>.<test> | ||
| where <file> is the name of one of the files in the benchmark/ subdirectory | ||
| and <test> is the name of a test function in that file. | ||
| If you have the `snakeviz` profiling visualization package installed, the | ||
| following command will profile a test against the HEAD of the current branch | ||
| and open a graphical representation of the profiled code: | ||
| asv profile --gui snakeviz <file>.<test> HEAD | ||
| RMM, 27 Feb 2021 |
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