Expand timing info in final diagnostics

include/sleipnir/autodiff/Gradient.hpp

@@ -7,9 +7,9 @@
 #include <Eigen/SparseCore>
 
 #include "sleipnir/autodiff/Jacobian.hpp"
-#include "sleipnir/autodiff/Profiler.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/autodiff/VariableMatrix.hpp"
+#include "sleipnir/util/SolveProfiler.hpp"
 #include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
@@ -60,9 +60,11 @@ class SLEIPNIR_DLLEXPORT Gradient {
   }
 
   /**
-   * Returns the profiler.
+   * Returns the solve profiler.
    */
-  Profiler& GetProfiler() { return m_jacobian.GetProfiler(); }
+  const SolveProfiler& GetSolveProfiler() const {
+    return m_jacobian.GetSolveProfiler();
+  }
 
  private:
   Eigen::SparseVector<double> m_g;

include/sleipnir/autodiff/Hessian.hpp

@@ -6,9 +6,9 @@
 
 #include "sleipnir/autodiff/AdjointExpressionGraph.hpp"
 #include "sleipnir/autodiff/Jacobian.hpp"
-#include "sleipnir/autodiff/Profiler.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/autodiff/VariableMatrix.hpp"
+#include "sleipnir/util/SolveProfiler.hpp"
 #include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
@@ -31,13 +31,10 @@ class SLEIPNIR_DLLEXPORT Hessian {
    */
   Hessian(Variable variable, const VariableMatrix& wrt) noexcept
       : m_jacobian{[&] {
-                     m_profiler.StartSetup();
                      return detail::AdjointExpressionGraph{variable}
                          .GenerateGradientTree(wrt);
                    }(),
-                   wrt} {
-    m_profiler.StopSetup();
-  }
+                   wrt} {}
 
   /**
    * Returns the Hessian as a VariableMatrix.
@@ -51,19 +48,19 @@ class SLEIPNIR_DLLEXPORT Hessian {
    * Evaluates the Hessian at wrt's value.
    */
   const Eigen::SparseMatrix<double>& Value() {
-    m_profiler.StartSolve();
+    m_solveProfiler.Start();
     const auto& H = m_jacobian.Value();
-    m_profiler.StopSolve();
+    m_solveProfiler.Stop();
     return H;
   }
 
   /**
-   * Returns the profiler.
+   * Returns the solve profiler.
    */
-  Profiler& GetProfiler() { return m_profiler; }
+  const SolveProfiler& GetSolveProfiler() const { return m_solveProfiler; }
 
  private:
-  Profiler m_profiler;
+  SolveProfiler m_solveProfiler;
   Jacobian m_jacobian;
 };
 

include/sleipnir/autodiff/Jacobian.hpp

@@ -7,9 +7,9 @@
 #include <Eigen/SparseCore>
 
 #include "sleipnir/autodiff/AdjointExpressionGraph.hpp"
-#include "sleipnir/autodiff/Profiler.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/autodiff/VariableMatrix.hpp"
+#include "sleipnir/util/SolveProfiler.hpp"
 #include "sleipnir/util/SymbolExports.hpp"
 #include "sleipnir/util/small_vector.hpp"
 
@@ -33,8 +33,6 @@ class SLEIPNIR_DLLEXPORT Jacobian {
    */
   Jacobian(const VariableMatrix& variables, const VariableMatrix& wrt) noexcept
       : m_variables{std::move(variables)}, m_wrt{std::move(wrt)} {
-    m_profiler.StartSetup();
-
     // Initialize column each expression's adjoint occupies in the Jacobian
     for (size_t col = 0; col < m_wrt.size(); ++col) {
       m_wrt(col).expr->col = col;
@@ -69,8 +67,6 @@ class SLEIPNIR_DLLEXPORT Jacobian {
     if (m_nonlinearRows.empty()) {
       m_J.setFromTriplets(m_cachedTriplets.begin(), m_cachedTriplets.end());
     }
-
-    m_profiler.StopSetup();
   }
 
   /**
@@ -101,10 +97,10 @@ class SLEIPNIR_DLLEXPORT Jacobian {
    * Evaluates the Jacobian at wrt's value.
    */
   const Eigen::SparseMatrix<double>& Value() {
-    m_profiler.StartSolve();
+    m_solveProfiler.Start();
 
     if (m_nonlinearRows.empty()) {
-      m_profiler.StopSolve();
+      m_solveProfiler.Stop();
       return m_J;
     }
 
@@ -129,15 +125,15 @@ class SLEIPNIR_DLLEXPORT Jacobian {
       m_J.setZero();
     }
 
-    m_profiler.StopSolve();
+    m_solveProfiler.Stop();
 
     return m_J;
   }
 
   /**
-   * Returns the profiler.
+   * Returns the solve profiler.
    */
-  Profiler& GetProfiler() { return m_profiler; }
+  const SolveProfiler& GetSolveProfiler() const { return m_solveProfiler; }
 
  private:
   VariableMatrix m_variables;
@@ -154,7 +150,7 @@ class SLEIPNIR_DLLEXPORT Jacobian {
   // Value()
   small_vector<int> m_nonlinearRows;
 
-  Profiler m_profiler;
+  SolveProfiler m_solveProfiler;
 };
 
 }  // namespace sleipnir

include/sleipnir/util/SetupProfiler.hpp

@@ -0,0 +1,58 @@
+// Copyright (c) Sleipnir contributors
+
+#pragma once
+
+#include <chrono>
+#include <string>
+#include <string_view>
+
+namespace sleipnir {
+
+/**
+ * Records the number of profiler measurements (start/stop pairs) and the
+ * average duration between each start and stop call.
+ */
+class SetupProfiler {
+ public:
+  std::string name;
+
+  /**
+   * Constructs a SetupProfiler.
+   *
+   * @param name Name of measurement to show in diagnostics.
+   */
+  explicit SetupProfiler(std::string_view name) : name{name} {}
+
+  /**
+   * Tell the profiler to start measuring setup time.
+   */
+  void Start() {
+#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+    m_setupStartTime = std::chrono::steady_clock::now();
+#endif
+  }
+
+  /**
+   * Tell the profiler to stop measuring setup time.
+   */
+  void Stop() {
+#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+    m_setupStopTime = std::chrono::steady_clock::now();
+    m_setupDuration = m_setupStopTime - m_setupStartTime;
+#endif
+  }
+
+  /**
+   * The setup duration in milliseconds as a double.
+   */
+  const std::chrono::duration<double>& Duration() const {
+    return m_setupDuration;
+  }
+
+ private:
+  std::chrono::steady_clock::time_point m_setupStartTime;
+  std::chrono::steady_clock::time_point m_setupStopTime;
+  std::chrono::duration<double> m_setupDuration{0.0};
+};
+
+}  // namespace sleipnir

include/sleipnir/util/SolveProfiler.hpp

@@ -0,0 +1,93 @@
+// Copyright (c) Sleipnir contributors
+
+#pragma once
+
+#include <chrono>
+#include <string>
+#include <string_view>
+
+namespace sleipnir {
+
+/**
+ * Records the number of profiler measurements (start/stop pairs) and the
+ * average duration between each start and stop call.
+ */
+class SolveProfiler {
+ public:
+  std::string name;
+
+  /**
+   * Constructs a SolveProfiler.
+   */
+  SolveProfiler() = default;
+
+  /**
+   * Constructs a SolveProfiler.
+   *
+   * @param name Name of measurement to show in diagnostics.
+   */
+  explicit SolveProfiler(std::string_view name) : name{name} {}
+
+  /**
+   * Tell the profiler to start measuring solve time.
+   */
+  void Start() {
+#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+    m_currentSolveStartTime = std::chrono::steady_clock::now();
+#endif
+  }
+
+  /**
+   * Tell the profiler to stop measuring solve time, increment the number of
+   * averages, and incorporate the latest measurement into the average.
+   */
+  void Stop() {
+#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+    m_currentSolveStopTime = std::chrono::steady_clock::now();
+    m_currentSolveDuration = m_currentSolveStopTime - m_currentSolveStartTime;
+    m_totalSolveDuration += m_currentSolveDuration;
+
+    ++m_numSolves;
+    m_averageSolveDuration =
+        (m_numSolves - 1.0) / m_numSolves * m_averageSolveDuration +
+        1.0 / m_numSolves * m_currentSolveDuration;
+#endif
+  }
+
+  /**
+   * The number of solves.
+   */
+  int NumSolves() const { return m_numSolves; }
+
+  /**
+   * The most recent solve duration in milliseconds as a double.
+   */
+  const std::chrono::duration<double>& CurrentDuration() const {
+    return m_currentSolveDuration;
+  }
+
+  /**
+   * The average solve duration in milliseconds as a double.
+   */
+  const std::chrono::duration<double>& AverageDuration() const {
+    return m_averageSolveDuration;
+  }
+
+  /**
+   * The sum of all solve durations in milliseconds as a double.
+   */
+  const std::chrono::duration<double>& TotalDuration() const {
+    return m_totalSolveDuration;
+  }
+
+ private:
+  std::chrono::steady_clock::time_point m_currentSolveStartTime;
+  std::chrono::steady_clock::time_point m_currentSolveStopTime;
+  std::chrono::duration<double> m_currentSolveDuration{0.0};
+  std::chrono::duration<double> m_totalSolveDuration{0.0};
+
+  int m_numSolves = 0;
+  std::chrono::duration<double> m_averageSolveDuration{0.0};
+};
+
+}  // namespace sleipnir