// -----------------------------------------------------------------------------------------------------
//                                      gs-rs - Graph SLAM in Rust
// -----------------------------------------------------------------------------------------------------
//
// SPDX-FileCopyrightText:      © 2020 Samuel Valenzuela (samuel.valenzuela@tngtech.com)
//                              © 2020 Florian Rohm (florian.rohm@tngtech.com)
//                              © 2020 Daniel Pape (daniel.pape@tngtech.com)
// SPDX-License-Identifier:     MIT OR Apache-2.0
//
// This product includes software developed at TNG Technology Consulting GmbH (https://www.tngtech.com/).
//

use criterion::{criterion_group, criterion_main, Criterion};
use gs_rs::optimizer::optimize;
use gs_rs::parser::g2o::G2oParser;
use gs_rs::parser::Parser;

fn bench_optimization(file_name: &str, iterations: usize) {
    let factor_graph = G2oParser::parse_file(&["data_files/benchmark_input/", file_name, ".g2o"].concat()).unwrap();
    optimize(&factor_graph, iterations);
}

fn bench_mit_2d_1(c: &mut Criterion) {
    c.bench_function("MIT_2D_1_iteration", |b| b.iter(|| bench_optimization("MIT_2D", 1)));
}

fn bench_mit_2d_50(c: &mut Criterion) {
    c.bench_function("MIT_2D_50_iterations", |b| b.iter(|| bench_optimization("MIT_2D", 50)));
}

fn bench_sphere_3d_1(c: &mut Criterion) {
    c.bench_function("Sphere_3D_1_iteration", |b| {
        b.iter(|| bench_optimization("Sphere_3D", 1))
    });
}

fn bench_sphere_3d_10(c: &mut Criterion) {
    c.bench_function("Sphere_3D_10_iterations", |b| {
        b.iter(|| bench_optimization("Sphere_3D", 10))
    });
}

criterion_group! {
    name = benches;
    config = Criterion::default().sample_size(10);
    targets = bench_mit_2d_1, bench_mit_2d_50, bench_sphere_3d_1, bench_sphere_3d_10
}
criterion_main!(benches);