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Continue rapport
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rapport/gz-unitree.typ
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rapport/gz-unitree.typ
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Prenons un cycle en particulier:
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#let ms_to_fr = (amount, total) => amount / total * 1fr
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#let durations = (0.267, 0.051, 0.039, 0.142, 0.028) // total, state, tick+crc, pub state, cmd
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#let dur = idx => [#durations.at(idx) ms]
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#figure(
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caption: [Profiling d'un cycle de simulation],
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table(
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columns: durations.slice(1).map(x => ms_to_fr(x, durations.at(0))),
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table.cell([`::PreUpdate` #durations.at(0) ms], colspan: 4),
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[Update state],
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[Compute tick and CRC],
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[Publish state],
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[Update cmd.]
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columns: durations.slice(1).map(x => x / durations.at(0) * 1fr),
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table.cell([`::PreUpdate` #dur(0)], colspan: 4),
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[Update state \ #dur(1)],
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[Tick+CRC \ #dur(2)],
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[Publish state \ #dur(3)],
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[Update cmd. \ #dur(4)]
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)
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)
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