clean comparison benchmarks

Author: pantor

CMakeLists.txt

@@ -21,9 +21,6 @@ if(WIN32 AND BUILD_SHARED_LIBS)
 endif()
 
 
-find_package(Reflexxes QUIET)
-
-
 add_library(ruckig
   src/ruckig/brake.cpp
   src/ruckig/position-step1.cpp
@@ -59,15 +56,6 @@ if(BUILD_ONLINE_CLIENT)
 endif()
 
 
-if(Reflexxes)
-  set(REFLEXXES_TYPE "ReflexxesTypeII" CACHE STRING "Type of Reflexxes library") # or ReflexxesTypeIV
-  message("Found Reflexxes ${REFLEXXES_TYPE}")
-
-  target_compile_definitions(ruckig PUBLIC WITH_REFLEXXES)
-  target_link_libraries(ruckig PUBLIC Reflexxes::Reflexxes)
-endif()
-
-
 if(BUILD_EXAMPLES)
   foreach(example IN ITEMS 1_position 2_position_offline 5_velocity 6_stop 7_minimum_duration 8_dynamic_dofs)
     add_executable(example-${example} examples/${example}.cpp)
@@ -158,9 +146,6 @@ if(BUILD_TESTS)
   else()
     target_compile_options(test-target PRIVATE -Wall -Wextra)
   endif()
-  if(Reflexxes)
-    target_compile_definitions(test-target PUBLIC WITH_REFLEXXES)
-  endif()
 
   add_test(NAME test-target COMMAND test-target)
 endif()
@@ -169,8 +154,5 @@ endif()
 if(BUILD_BENCHMARK)
   add_executable(benchmark-target test/benchmark-target.cpp)
 
-  if(Reflexxes)
-    target_compile_definitions(benchmark-target PUBLIC WITH_REFLEXXES)
-  endif()
   target_link_libraries(benchmark-target PRIVATE ruckig)
 endif()

cmake/FindReflexxes.cmake

@@ -7,10 +7,6 @@
 
 #include <ruckig/ruckig.hpp>
 
-#ifdef WITH_REFLEXXES
-    #include <ruckig/reflexxes_comparison.hpp>
-#endif
-
 
 namespace py = pybind11;
 using namespace pybind11::literals; // to bring in the `_a` literal
@@ -188,12 +184,4 @@ limited by velocity, acceleration, and jerk constraints.";
         .def_readonly("accel", &Profile::accel)
         .def("__repr__", &Profile::to_string);
 #endif
-
-#ifdef WITH_REFLEXXES
-    py::class_<Reflexxes<DynamicDOFs>>(m, "Reflexxes")
-        .def(py::init<size_t, double>(), "dofs"_a, "delta_time"_a)
-        .def_readonly("degrees_of_freedom", &Reflexxes<DynamicDOFs>::degrees_of_freedom)
-        .def_readonly("delta_time", &Reflexxes<DynamicDOFs>::delta_time)
-        .def("update", &Reflexxes<DynamicDOFs>::update);
-#endif
 }

include/ruckig/reflexxes_comparison.hpp

@@ -4,10 +4,6 @@
 
 #include <ruckig/ruckig.hpp>
 
-#ifdef WITH_REFLEXXES
-#include <ruckig/reflexxes_comparison.hpp>
-#endif
-
 
 using namespace ruckig;
 
@@ -112,8 +108,6 @@ int main() {
     std::cout << "Ruckig size: " << sizeof(Ruckig<3, true>) << " Byte" << std::endl;
     std::cout << "Trajectory<3> size: " << sizeof(Trajectory<3>) << " Byte" << std::endl;
 
-    // Main comparison
     const size_t DOFs {7};
     benchmark<DOFs, Ruckig<DOFs, true>>(n, number_trajectories);
-    // benchmark<DOFs, Reflexxes<DOFs>>(n, number_trajectories);
 }