From 3010331c2e4f46d02ca053dd47d62acbd54da311 Mon Sep 17 00:00:00 2001
From: Daniel Eades <danieleades@hotmail.com>
Date: Sun, 20 Oct 2024 06:57:16 +0100
Subject: [PATCH] reduce code duplication

---
 benches/bench_dubins.rs | 42 +++++++++++++++--------------------------
 1 file changed, 15 insertions(+), 27 deletions(-)

diff --git a/benches/bench_dubins.rs b/benches/bench_dubins.rs
index 4b87b73..c91f9fd 100644
--- a/benches/bench_dubins.rs
+++ b/benches/bench_dubins.rs
@@ -3,43 +3,32 @@ use dubins_paths::{DubinsPath, PathType, PosRot};
 
 const TURN_RADIUS: f32 = 1. / 0.00076;
 
-fn bench_shortest_csc_path(c: &mut Criterion) {
+fn setup_benchmark() -> (PosRot, PosRot) {
     let q0: PosRot = [2000., 2000., 0.].into();
     let q1: PosRot = [0., 0., std::f32::consts::PI].into();
+    (q0, q1)
+}
 
-    c.bench_function("shortest_csc_path", |b| {
+fn bench_shortest_path_type(c: &mut Criterion, name: &str, path_types: &[PathType]) {
+    let (q0, q1) = setup_benchmark();
+
+    c.bench_function(name, |b| {
         b.iter(|| {
-            DubinsPath::shortest_in(
-                black_box(q0),
-                black_box(q1),
-                black_box(TURN_RADIUS),
-                black_box(&PathType::CSC),
-            )
-            .unwrap()
+            DubinsPath::shortest_in(black_box(q0), black_box(q1), black_box(TURN_RADIUS), black_box(path_types)).unwrap()
         })
     });
 }
 
-fn bench_shortest_ccc_path(c: &mut Criterion) {
-    let q0: PosRot = [2000., 2000., 0.].into();
-    let q1: PosRot = [0., 0., std::f32::consts::PI].into();
+fn bench_shortest_csc_path(c: &mut Criterion) {
+    bench_shortest_path_type(c, "shortest_csc_path", &PathType::CSC);
+}
 
-    c.bench_function("shortest_ccc_path", |b| {
-        b.iter(|| {
-            DubinsPath::shortest_in(
-                black_box(q0),
-                black_box(q1),
-                black_box(TURN_RADIUS),
-                black_box(&PathType::CCC),
-            )
-            .unwrap()
-        })
-    });
+fn bench_shortest_ccc_path(c: &mut Criterion) {
+    bench_shortest_path_type(c, "shortest_ccc_path", &PathType::CCC);
 }
 
 fn bench_shortest_path(c: &mut Criterion) {
-    let q0: PosRot = [2000., 2000., 0.].into();
-    let q1: PosRot = [0., 0., std::f32::consts::PI].into();
+    let (q0, q1) = setup_benchmark();
 
     c.bench_function("shortest_path", |b| {
         b.iter(|| DubinsPath::shortest_from(black_box(q0), black_box(q1), black_box(TURN_RADIUS)).unwrap())
@@ -48,8 +37,7 @@ fn bench_shortest_path(c: &mut Criterion) {
 
 fn bench_many_sample(c: &mut Criterion) {
     const STEP_DISTANCE: f32 = 10.;
-    let q0: PosRot = [2000., 2000., 0.].into();
-    let q1: PosRot = [0., 0., std::f32::consts::PI].into();
+    let (q0, q1) = setup_benchmark();
     let path = DubinsPath::shortest_from(q0, q1, TURN_RADIUS).unwrap();
 
     c.bench_function("many_sample", |b| b.iter(|| path.sample_many(black_box(STEP_DISTANCE))));