#include <iostream>
#include <algorithm>
#include <string>
#include <vector>
#include <cstdlib>
#include <iomanip>
#include <sstream>
#include "rdl_benchmark/model_generator.h"
#include "rdl_benchmark/Human36Model.h"
#include "rdl_benchmark/SampleData.h"
#include "rdl_benchmark/Timer.h"
#include "rdl_dynamics/Contacts.h"
#include "rdl_dynamics/Dynamics.h"
#include "rdl_dynamics/Model.h"
#include "rdl_urdfreader/urdfreader.h"
Go to the source code of this file.
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| double | contacts_benchmark (int sample_count, ContactsMethod contacts_method) |
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| void | disable_all_benchmarks () |
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| int | main (int argc, char *argv[]) |
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| void | parse_args (int argc, char *argv[]) |
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| void | print_usage () |
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| double | run_calc_minv_times_tau_benchmark (ModelPtr model, int sample_count) |
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| double | run_contacts_kokkevis_benchmark (ModelPtr model, ConstraintSet *constraint_set, int sample_count) |
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| double | run_contacts_lagrangian_benchmark (ModelPtr model, ConstraintSet *constraint_set, int sample_count) |
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| double | run_contacts_lagrangian_sparse_benchmark (ModelPtr model, ConstraintSet *constraint_set, int sample_count) |
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| double | run_contacts_null_space (ModelPtr model, ConstraintSet *constraint_set, int sample_count) |
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| double | run_CRBA_benchmark (ModelPtr model, int sample_count) |
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| double | run_forward_dynamics_ABA_benchmark (ModelPtr model, int sample_count) |
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| double | run_forward_dynamics_lagrangian_benchmark (ModelPtr model, int sample_count) |
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| double | run_inverse_dynamics_RNEA_benchmark (ModelPtr model, int sample_count) |
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| double | run_nle_benchmark (ModelPtr model, int sample_count) |
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| Enumerator |
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| ContactsMethodLagrangian |
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| ContactsMethodRangeSpaceSparse |
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| ContactsMethodNullSpace |
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| ContactsMethodKokkevis |
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Definition at line 39 of file benchmark.cc.
| double contacts_benchmark |
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int |
sample_count, |
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ContactsMethod |
contacts_method |
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| void disable_all_benchmarks |
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| int main |
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int |
argc, |
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char * |
argv[] |
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) |
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| void parse_args |
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int |
argc, |
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char * |
argv[] |
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) |
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| double run_calc_minv_times_tau_benchmark |
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ModelPtr |
model, |
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int |
sample_count |
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) |
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| double run_contacts_kokkevis_benchmark |
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ModelPtr |
model, |
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ConstraintSet * |
constraint_set, |
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int |
sample_count |
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) |
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| double run_contacts_lagrangian_benchmark |
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ModelPtr |
model, |
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ConstraintSet * |
constraint_set, |
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int |
sample_count |
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) |
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| double run_contacts_lagrangian_sparse_benchmark |
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ModelPtr |
model, |
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ConstraintSet * |
constraint_set, |
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int |
sample_count |
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) |
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| double run_CRBA_benchmark |
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ModelPtr |
model, |
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int |
sample_count |
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) |
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| double run_forward_dynamics_ABA_benchmark |
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ModelPtr |
model, |
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int |
sample_count |
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) |
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| double run_forward_dynamics_lagrangian_benchmark |
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ModelPtr |
model, |
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int |
sample_count |
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) |
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| double run_inverse_dynamics_RNEA_benchmark |
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ModelPtr |
model, |
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int |
sample_count |
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) |
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| double run_nle_benchmark |
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ModelPtr |
model, |
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int |
sample_count |
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) |
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| int benchmark_model_max_depth = 5 |
| bool benchmark_run_calc_minv_times_tau = true |
| bool benchmark_run_contacts = false |
| bool benchmark_run_crba = true |
| bool benchmark_run_fd_aba = true |
| bool benchmark_run_fd_lagrangian = true |
| bool benchmark_run_id_rnea = true |
| bool benchmark_run_nle = true |
| int benchmark_sample_count = 1000 |
| bool have_urdfreader = true |
| bool urdf_floating_base = false |
