Updated environment benchmark

tesseract-robotics · Jan 5, 2022 · e29a770 · e29a770
1 parent 5e01db6
commit e29a770
Showing 1 changed file with 5 additions and 6 deletions.
diff --git a/tesseract_environment/test/benchmarks/environment_clone_benchmarks.cpp b/tesseract_environment/test/benchmarks/environment_clone_benchmarks.cpp
@@ -2,10 +2,10 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <benchmark/benchmark.h>
 #include <algorithm>
-#include <tesseract_urdf/urdf_parser.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/environment.h>
-#include <tesseract_environment/ofkt/ofkt_state_solver.h>
+#include <tesseract_common/resource_locator.h>
+#include <tesseract_urdf/urdf_parser.h>
 
 using namespace tesseract_scene_graph;
 using namespace tesseract_collision;
@@ -42,8 +42,7 @@ SceneGraph::Ptr getSceneGraph()
 {
   std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/urdf/lbr_iiwa_14_r820.urdf";
 
-  tesseract_scene_graph::ResourceLocator::Ptr locator =
-      std::make_shared<tesseract_scene_graph::SimpleResourceLocator>(locateResource);
+  tesseract_common::SimpleResourceLocator locator(locateResource);
   return tesseract_urdf::parseURDFFile(path, locator);
 }
 
@@ -55,12 +54,12 @@ static void BM_ENVIRONMENT_CLONE(benchmark::State& state, Environment::Ptr env)
   {
     benchmark::DoNotOptimize(clone = env->clone());
   }
-};
+}
 
 int main(int argc, char** argv)
 {
   Environment::Ptr env = std::make_shared<Environment>();
-  env->init<OFKTStateSolver>(*getSceneGraph());
+  env->init(*getSceneGraph());
 
   //////////////////////////////////////
   // Clone