use criterion::{criterion_group, criterion_main, Criterion};

extern crate robotics;
use robotics::mapping::pose_graph_optimization::PoseGraph;

fn graph_slam_intel(b: &mut Criterion) {
    b.bench_function("graph_slam_intel", |b| {
        b.iter(|| PoseGraph::from_g2o("dataset/g2o/intel.g2o")?.optimize(10, false, false))
    });
}

criterion_group!(benches, graph_slam_intel);
criterion_main!(benches);