Benchmarks

Performance measurements and comparisons.

Performance Table

All measurements on AMD Ryzen 9 7950X, DDR5-5200, Ubuntu 24.04, Rust 1.75+ (release mode, -C target-cpu=native).

Core Operations

Inverse Kinematics

Collision Checking

Motion Planning

Servo (Reactive Control)

Trajectory Processing

Comparison vs MoveIt2

Approximate comparisons based on published benchmarks and internal testing. MoveIt2 measurements from MoveIt2 documentation and community benchmarks.

Speedups come from:

• Rust vs C++ (memory safety without overhead)
• SIMD collision (4-16x throughput per check)
• Analytical IK solvers (OPW, Subproblem) vs iterative KDL
• No ROS middleware overhead

How to Run Benchmarks

Prerequisites

# Install criterion (benchmark framework)
cargo install cargo-criterion  # optional, nicer output

# Build in release mode
cargo build --release

Running

# All benchmarks
cargo bench

# Specific benchmark group
cargo bench --bench fk_benchmarks
cargo bench --bench ik_benchmarks
cargo bench --bench collision_benchmarks
cargo bench --bench planning_benchmarks

# With HTML report
cargo bench --bench planning_benchmarks -- --output-format=bencher

# Filter by name
cargo bench -- "ur5e"

Results

Criterion generates HTML reports in target/criterion/. Open target/criterion/report/index.html for interactive charts.

Writing Custom Benchmarks

#![allow(unused)]
fn main() {
use criterion::{criterion_group, criterion_main, Criterion};

fn my_benchmark(c: &mut Criterion) {
    let robot = Robot::from_name("ur5e").unwrap();
    let chain = KinematicChain::extract(&robot, "base_link", "tool0").unwrap();
    let joints = vec![0.0, -1.0, 0.8, 0.0, 0.0, 0.0];

    c.bench_function("fk_ur5e", |b| {
        b.iter(|| forward_kinematics(&robot, &chain, &joints))
    });
}

criterion_group!(benches, my_benchmark);
criterion_main!(benches);
}

Reproducing Results

For reproducible benchmarks:

1. Use --release builds with target-cpu=native
2. Disable CPU frequency scaling: sudo cpupower frequency-set -g performance
3. Close background applications
4. Run each benchmark 3+ times and take the median
5. Report CPU model, RAM speed, OS version, and Rust version