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Do not waste time constructing error string if nobody is interested in it in canTransform(). #469

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merged 1 commit into from
Aug 24, 2020
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Do not waste time constructing error string if nobody is interested in it in canTransform(). #469

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2 changes: 1 addition & 1 deletion tf2/src/buffer_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -358,7 +358,7 @@ int BufferCore::walkToTopParent(F& f, ros::Time time, CompactFrameID target_id,
break;
}

CompactFrameID parent = f.gather(cache, time, &extrapolation_error_string);
CompactFrameID parent = f.gather(cache, time, error_string ? &extrapolation_error_string : NULL);
if (parent == 0)
{
// Just break out here... there may still be a path from source -> target
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27 changes: 27 additions & 0 deletions tf2/test/speed_test.cpp
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Expand Up @@ -222,4 +222,31 @@ int main(int argc, char** argv)
CONSOLE_BRIDGE_logInform("canTransform at Time(2) took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
}
#endif

#if 01
{
ros::WallTime start = ros::WallTime::now();
for (uint32_t i = 0; i < count; ++i)
{
bc.canTransform(v_frame1, v_frame0, ros::Time(3));
}
ros::WallTime end = ros::WallTime::now();
ros::WallDuration dur = end - start;
CONSOLE_BRIDGE_logInform("canTransform at Time(3) without error string took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
}
#endif

#if 01
{
ros::WallTime start = ros::WallTime::now();
std::string str;
for (uint32_t i = 0; i < count; ++i)
{
bc.canTransform(v_frame1, v_frame0, ros::Time(3), &str);
}
ros::WallTime end = ros::WallTime::now();
ros::WallDuration dur = end - start;
CONSOLE_BRIDGE_logInform("canTransform at Time(3) with error string took %f for an average of %.9f", dur.toSec(), dur.toSec() / (double)count);
}
#endif
}