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| On branch https://github.com/DAIRLab/dairlib/tree/trajopt-speed-hacks | |
| valgrind --tool=callgrind --dump-instr=yes --simulate-cache=yes --collect-jumps=yes ./bazel-bin/examples/Cassie/run_dircon_squatting --max_iter=1 | |
| kcachegrind <output file> |
Here are my results; I dunno how to use callgrind_annotate, so just took a snapshot:
git clone https://github.com/DAIRLab/dairlib -b trajopt-speed-hacks
cd dairlib/
git remote rename origin upstream
git config remote.upstream.pushurl no_push
git log -n 1 --oneline --no-decorate
# a0621b5 Hack to use a single iteration only
bazel build //examples/Cassie:run_dircon_squatting
valgrind \
--tool=callgrind \
--dump-instr=yes --simulate-cache=yes --collect-jumps=yes \
./bazel-bin/examples/Cassie/run_dircon_squatting --max_iter=1
kcachegrind
I've uploaded my callgrind.out file:
https://github.com/EricCousineau-TRI/gist_like_files/blob/b55ce3156e04df764104fac6d456643acb3ff2c8/callgrind.out.26178
Can you post yours too?
Here're the 2 callgrind files:
https://github.com/EricCousineau-TRI/gist_like_files/tree/200303a3036007f6edef7401cb843beb917a9e04/dairlib_profile
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FTR I'm trying this on https://github.com/DAIRLab/dairlib/tree/a0621b5
See Drake Slack convo: https://drakedevelopers.slack.com/archives/C3L92BM2Q/p1590259734047400?thread_ts=1590255574.041300&cid=C3L92BM2Q