Don't reparse parent elements when cloning.

[arjo129]

🦟 Bug fix

Fixes #

Summary

Improves performance on sdf::Element::Clone by not requiring the parent elements to be reparsed. This was originally part of #1479. But it makes sense to seperate out the work.

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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[scpeters]

I think macOS build failures are due to https://github.com/osrf/homebrew-simulation/issues/2834

[scpeters]

I ran the PERFORMANCE_parser_urdf test several times with std_err redirected to /dev/null and see about a 18% reduction in average test time (1 - 0.928 / 1.133) ~= 0.18

sdf15

Ran the test 10 times:

Minimum	Average	Maximum
1.110 s	1.133 s	1.149 s

```bash $ time for i in $(seq 10); do bin/PERFORMANCE_parser_urdf 2> /dev/null ; done Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1103 ms) [----------] 1 test from URDFParser (1103 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1103 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1123 ms) [----------] 1 test from URDFParser (1123 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1123 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1107 ms) [----------] 1 test from URDFParser (1107 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1108 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1149 ms) [----------] 1 test from URDFParser (1149 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1149 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1117 ms) [----------] 1 test from URDFParser (1117 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1117 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1100 ms) [----------] 1 test from URDFParser (1100 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1100 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1109 ms) [----------] 1 test from URDFParser (1109 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1109 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1112 ms) [----------] 1 test from URDFParser (1112 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1112 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1116 ms) [----------] 1 test from URDFParser (1116 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1116 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (1118 ms) [----------] 1 test from URDFParser (1118 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (1118 ms total) [ PASSED ] 1 test. real 0m11.335s user 0m8.720s sys 0m2.549s ```

this branch

Ran the test 10 times:

Minimum	Average	Maximum
0.890 s	0.928 s	0.945 s

```bash $ time for i in $(seq 10); do bin/PERFORMANCE_parser_urdf 2> /dev/null ; done Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (906 ms) [----------] 1 test from URDFParser (906 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (906 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (894 ms) [----------] 1 test from URDFParser (894 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (894 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (920 ms) [----------] 1 test from URDFParser (920 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (920 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (892 ms) [----------] 1 test from URDFParser (892 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (892 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (923 ms) [----------] 1 test from URDFParser (923 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (923 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (921 ms) [----------] 1 test from URDFParser (921 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (921 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (908 ms) [----------] 1 test from URDFParser (908 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (908 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (945 ms) [----------] 1 test from URDFParser (945 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (945 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (903 ms) [----------] 1 test from URDFParser (903 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (903 ms total) [ PASSED ] 1 test. Running main() from /Users/scpeters/ws/ionic/src/sdformat/test/gtest_vendor/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from URDFParser [ RUN ] URDFParser.AtlasURDF_5runs_performance [ OK ] URDFParser.AtlasURDF_5runs_performance (890 ms) [----------] 1 test from URDFParser (890 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (890 ms total) [ PASSED ] 1 test. real 0m9.280s user 0m6.680s sys 0m2.490s ```