Benchmark rrt with google/benchmark

[justbuchanan]

Google has a benchmarking library that goes along well with googletest, which we already use for unit testing. If we setup some benchmarks of the rrt, it will allow us to see how performance is affected by different changes, such as using a kd-tree to speed up nearest-neighbor lookups (see issue #7).

[kevinatorchen]

Good resources to get started: http://www.sven-johannsen.de/slides/google-benchmark20160714/index.html#/ http://www.bfilipek.com/2016/01/micro-benchmarking-libraries-for-c.html

Examples: https://gist.github.com/mdavezac/eb16de7e8fc08e522ff0d420516094f5 http://www.bfilipek.com/2016/05/google-benchmark-library.html http://stackoverflow.com/questions/38023017/google-benchmark-benchmark-template-syntax

[joshhting]

Yo are you working on this @kevinatorchen? How much progress have you made?

[kevinatorchen]

Hey Josh, I'm currently in China so can't work on it now. I will be back in Atlanta on the 24th, and will continue working on it then.

I am still figuring out how Benchmark works. I have followed through a few examples from the first link I posted.

[kevinatorchen]

It looks like I might be too busy for Robojackets this summer...internship is quite a heavy load for me. I'll unassign myself for now, but I may secretly work on this if I have time. If so, I'll post whatever I do.