/// <summary> /// returns a list of performance benchmarks /// </summary> /// <returns>list of benchmark timings</returns> public List <string> GetBenchmarks() { List <string> benchmarks = new List <string>(); benchmarks.Add("Robot position " + Convert.ToString((int)rob.x) + ", " + Convert.ToString((int)rob.y)); benchmarks.Add("Grid particles " + Convert.ToString(rob.GetBestGrid().total_valid_hypotheses)); benchmarks.Add("Garbage " + Convert.ToString(rob.GetBestGrid().total_garbage_hypotheses)); benchmarks.Add("Stereo correspondence " + Convert.ToString(rob.benchmark_stereo_correspondence) + " mS"); benchmarks.Add("Observation update " + Convert.ToString(rob.benchmark_observation_update) + " mS"); benchmarks.Add("Prediction " + Convert.ToString(rob.benchmark_prediction) + " mS"); benchmarks.Add("Garbage collection " + Convert.ToString(rob.benchmark_garbage_collection) + " mS"); benchmarks.Add("Concurrency " + Convert.ToString(rob.benchmark_concurrency) + " mS"); return(benchmarks); }