timings-contact-dynamics.cpp File Reference

#include "model-fixture.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/kinematics-derivatives.hpp"
#include "pinocchio/algorithm/rnea-derivatives.hpp"
#include "pinocchio/algorithm/aba-derivatives.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/contact-dynamics.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/algorithm/pv.hpp"
#include <benchmark/benchmark.h>
#include <iostream>

Include dependency graph for timings-contact-dynamics.cpp:

Go to the source code of this file.

Classes
struct	ContactFixture

Functions
static PINOCCHIO_DONT_INLINE void	abaWorldCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau)
	Apply (CustomArguments)
	BENCHMARK_DEFINE_F (ContactFixture, ABA_WORLD)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CHOLESKY_DECOMPOSE)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINED_ABA_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINED_ABA_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINED_ABA_EMPTY)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINT_DYNAMICS_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINT_DYNAMICS_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINT_DYNAMICS_EMPTY)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_ABA_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_ABA_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_ABA_EMPTY)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE_EMPTY)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_CHOLESKY_DECOMPOSITION_INVERSE_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_CHOLESKY_DECOMPOSITION_INVERSE_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONTACT_CHOLESKY_DECOMPOSITION_INVERSE_EMPTY)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, FORWARD_DYNAMICS_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, GET_KKT_CONTACT_DYNAMIC_MATRIX_INVERSE_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, GET_KKT_CONTACT_DYNAMIC_MATRIX_INVERSE_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, PV_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, PV_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, PV_EMPTY)(benchmark
	BENCHMARK_REGISTER_F (ContactFixture, ABA_WORLD) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CHOLESKY_DECOMPOSE) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINED_ABA_6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINED_ABA_6D6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINED_ABA_EMPTY) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINT_DYNAMICS_6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINT_DYNAMICS_6D6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINT_DYNAMICS_EMPTY) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONTACT_ABA_6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONTACT_ABA_6D6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONTACT_ABA_EMPTY) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, FORWARD_DYNAMICS_6D6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, PV_6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, PV_6D6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, PV_EMPTY) -> Apply(CustomArguments)
static PINOCCHIO_DONT_INLINE void	choleskyDecomposeCall (const pinocchio::Model &model, pinocchio::Data &data)
static PINOCCHIO_DONT_INLINE void	constrainedABACall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data, pinocchio::ProximalSettings &prox_settings)
static PINOCCHIO_DONT_INLINE void	constraintDynamicsCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data)
static PINOCCHIO_DONT_INLINE void	contactABACall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data)
static PINOCCHIO_DONT_INLINE void	contactCholeskyDecompositionComputeCall (pinocchio::ContactCholeskyDecomposition &contact, const pinocchio::Model &model, pinocchio::Data &data, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data)
static PINOCCHIO_DONT_INLINE void	contactCholeskyDecompositionInverseCall (pinocchio::ContactCholeskyDecomposition &contact, Eigen::MatrixXd &H_inverse)
static void	CustomArguments (benchmark::internal::Benchmark *b)
static PINOCCHIO_DONT_INLINE void	forwardDynamisCall (const pinocchio::Model &model, pinocchio::Data &data, const pinocchio::RigidConstraintModel &c1, const pinocchio::RigidConstraintModel &c2, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, Eigen::MatrixXd &J, const Eigen::VectorXd &gamma)
static PINOCCHIO_DONT_INLINE void	getKKTContactDynamicMatrixInverseCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixXd &J, const Eigen::MatrixXd &MJtJ_inv)
	PINOCCHIO_BENCHMARK_MAIN ()
static PINOCCHIO_DONT_INLINE void	pvCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data, pinocchio::ProximalSettings &prox_settings)

Function Documentation

abaWorldCall()

static PINOCCHIO_DONT_INLINE void abaWorldCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau  )

static

Definition at line 104 of file timings-contact-dynamics.cpp.

Apply()

Apply

(

CustomArguments

)

BENCHMARK_DEFINE_F() [1/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		ABA_WORLD
	)

Definition at line 113 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [2/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CHOLESKY_DECOMPOSE
	)

Definition at line 129 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [3/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINED_ABA_6D
	)

Definition at line 305 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [4/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINED_ABA_6D6D
	)

Definition at line 418 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [5/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINED_ABA_EMPTY
	)

Definition at line 199 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [6/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_6D
	)

Definition at line 346 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [7/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_6D6D
	)

Definition at line 462 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [8/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_EMPTY
	)

Definition at line 270 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [9/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_ABA_6D
	)

Definition at line 282 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [10/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_ABA_6D6D
	)

Definition at line 395 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [11/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_ABA_EMPTY
	)

Definition at line 152 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [12/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE_6D
	)

Definition at line 317 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [13/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE_6D6D
	)

Definition at line 431 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [14/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE_EMPTY
	)

Definition at line 222 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [15/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_INVERSE_6D
	)

Definition at line 331 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [16/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_INVERSE_6D6D
	)

Definition at line 446 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [17/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_INVERSE_EMPTY
	)

Definition at line 243 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [18/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		FORWARD_DYNAMICS_6D6D
	)

Definition at line 519 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [19/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		GET_KKT_CONTACT_DYNAMIC_MATRIX_INVERSE_6D
	)

Definition at line 368 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [20/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		GET_KKT_CONTACT_DYNAMIC_MATRIX_INVERSE_6D6D
	)

Definition at line 474 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [21/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		PV_6D
	)

Definition at line 293 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [22/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		PV_6D6D
	)

Definition at line 406 of file timings-contact-dynamics.cpp.

BENCHMARK_DEFINE_F() [23/23]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		PV_EMPTY
	)

Definition at line 175 of file timings-contact-dynamics.cpp.

BENCHMARK_REGISTER_F() [1/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		ABA_WORLD
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [2/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CHOLESKY_DECOMPOSE
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [3/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINED_ABA_6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [4/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINED_ABA_6D6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [5/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINED_ABA_EMPTY
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [6/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [7/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_6D6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [8/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_EMPTY
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [9/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONTACT_ABA_6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [10/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONTACT_ABA_6D6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [11/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONTACT_ABA_EMPTY
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [12/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		FORWARD_DYNAMICS_6D6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [13/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		PV_6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [14/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		PV_6D6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [15/15]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		PV_EMPTY
	)		-> Apply(CustomArguments)

choleskyDecomposeCall()

static PINOCCHIO_DONT_INLINE void choleskyDecomposeCall ( const pinocchio::Model &  model, pinocchio::Data &  data  )

static

Definition at line 125 of file timings-contact-dynamics.cpp.

constrainedABACall()

static PINOCCHIO_DONT_INLINE void constrainedABACall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data, pinocchio::ProximalSettings &  prox_settings  )

static

Definition at line 187 of file timings-contact-dynamics.cpp.

constraintDynamicsCall()

static PINOCCHIO_DONT_INLINE void constraintDynamicsCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data  )

static

Definition at line 259 of file timings-contact-dynamics.cpp.

contactABACall()

static PINOCCHIO_DONT_INLINE void contactABACall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data  )

static

Definition at line 141 of file timings-contact-dynamics.cpp.

contactCholeskyDecompositionComputeCall()

static PINOCCHIO_DONT_INLINE void contactCholeskyDecompositionComputeCall ( pinocchio::ContactCholeskyDecomposition &  contact, const pinocchio::Model &  model, pinocchio::Data &  data, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data  )

static

Definition at line 212 of file timings-contact-dynamics.cpp.

contactCholeskyDecompositionInverseCall()

static PINOCCHIO_DONT_INLINE void contactCholeskyDecompositionInverseCall ( pinocchio::ContactCholeskyDecomposition &  contact, Eigen::MatrixXd &  H_inverse  )

static

Definition at line 237 of file timings-contact-dynamics.cpp.

CustomArguments()

static void CustomArguments ( benchmark::internal::Benchmark *  b )

static

Definition at line 97 of file timings-contact-dynamics.cpp.

forwardDynamisCall()

static PINOCCHIO_DONT_INLINE void forwardDynamisCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const pinocchio::RigidConstraintModel &  c1, const pinocchio::RigidConstraintModel &  c2, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, Eigen::MatrixXd &  J, const Eigen::VectorXd &  gamma  )

static

Definition at line 502 of file timings-contact-dynamics.cpp.

getKKTContactDynamicMatrixInverseCall()

static PINOCCHIO_DONT_INLINE void getKKTContactDynamicMatrixInverseCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::MatrixXd &  J, const Eigen::MatrixXd &  MJtJ_inv  )

static

Definition at line 358 of file timings-contact-dynamics.cpp.

PINOCCHIO_BENCHMARK_MAIN()

PINOCCHIO_BENCHMARK_MAIN

(

)

pvCall()

static PINOCCHIO_DONT_INLINE void pvCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data, pinocchio::ProximalSettings &  prox_settings  )

static

Definition at line 163 of file timings-contact-dynamics.cpp.