timings-delassus-operations.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/delassus.hpp"
#include <benchmark/benchmark.h>
#include <iostream>

Include dependency graph for timings-delassus-operations.cpp:

Go to the source code of this file.

Classes
struct	DelassusFixture

Functions
	Apply (CustomArguments)
	BENCHMARK_DEFINE_F (DelassusFixture, COLUMN_MAJOR_LLT_COMPUTE)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, COLUMN_MAJOR_LLT_SOLVE_IN_PLACE)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, COMPUTE_DAMPED_DELASSUS_MATRIX_INVERSE)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, COMPUTE_DAMPED_DELASSUS_MATRIX_INVERSE_NO_SCALE_NO_PV)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, CONTACT_CHOLESKY_DECOMPOSITION_INVERSE)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, CONTACT_CHOLESKY_DECOMPOSITION_SOLVE_IN_PLACE)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, CONTACT_CHOLESKY_DECOMPOSITION_UPDATE_DAMPING)(benchmark
	BENCHMARK_DEFINE_F (DelassusFixture, GET_KKT_CONTACT_DYNAMIC_MATRIX_INVERSE)(benchmark
	BENCHMARK_REGISTER_F (DelassusFixture, COLUMN_MAJOR_LLT_COMPUTE) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DelassusFixture, COLUMN_MAJOR_LLT_SOLVE_IN_PLACE) -> Apply(CustomArguments)
static PINOCCHIO_DONT_INLINE void	columnMajorLLTComputeCall (Eigen::LLT< Eigen::MatrixXd > &llt, const Eigen::MatrixXd &m)
static PINOCCHIO_DONT_INLINE void	columnMajorLLTSolveInPlaceCall (Eigen::LLT< Eigen::MatrixXd > &llt, const Eigen::VectorXd &v)
static PINOCCHIO_DONT_INLINE void	computeDampedDelassusMatrixInverseCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data, const Eigen::MatrixXd &damped_delassus_inverse)
static PINOCCHIO_DONT_INLINE void	computeDampedDelassusMatrixInverseNoScaleNoPvCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data, const Eigen::MatrixXd &damped_delassus_inverse)
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_6D6D, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data_6D6D)
static PINOCCHIO_DONT_INLINE void	contactCholeskyDecompositionInverseCall (pinocchio::ContactCholeskyDecomposition &contact, Eigen::MatrixXd &H_inverse)
static PINOCCHIO_DONT_INLINE void	contactCholeskyDecompositionSolveInPlaceCall (pinocchio::ContactCholeskyDecomposition &contact, const Eigen::VectorXd &rhs_vector)
static PINOCCHIO_DONT_INLINE void	contactCholeskyDecompositionUpdateDampingCall (pinocchio::ContactCholeskyDecomposition &contact, double damping)
static void	CustomArguments (benchmark::internal::Benchmark *b)
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 ()

Function Documentation

Apply()

Apply

(

CustomArguments

)

BENCHMARK_DEFINE_F() [1/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		COLUMN_MAJOR_LLT_COMPUTE
	)

Definition at line 183 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [2/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		COLUMN_MAJOR_LLT_SOLVE_IN_PLACE
	)

Definition at line 201 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [3/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		COMPUTE_DAMPED_DELASSUS_MATRIX_INVERSE
	)

Definition at line 264 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [4/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		COMPUTE_DAMPED_DELASSUS_MATRIX_INVERSE_NO_SCALE_NO_PV
	)

Definition at line 301 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [5/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_COMPUTE
	)

Definition at line 99 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [6/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_INVERSE
	)

Definition at line 119 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [7/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_SOLVE_IN_PLACE
	)

Definition at line 161 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [8/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		CONTACT_CHOLESKY_DECOMPOSITION_UPDATE_DAMPING
	)

Definition at line 140 of file timings-delassus-operations.cpp.

BENCHMARK_DEFINE_F() [9/9]

BENCHMARK_DEFINE_F	(	DelassusFixture	,
		GET_KKT_CONTACT_DYNAMIC_MATRIX_INVERSE
	)

Definition at line 225 of file timings-delassus-operations.cpp.

BENCHMARK_REGISTER_F() [1/2]

BENCHMARK_REGISTER_F	(	DelassusFixture	,
		COLUMN_MAJOR_LLT_COMPUTE
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [2/2]

BENCHMARK_REGISTER_F	(	DelassusFixture	,
		COLUMN_MAJOR_LLT_SOLVE_IN_PLACE
	)		-> Apply(CustomArguments)

columnMajorLLTComputeCall()

static PINOCCHIO_DONT_INLINE void columnMajorLLTComputeCall ( Eigen::LLT< Eigen::MatrixXd > &  llt, const Eigen::MatrixXd &  m  )

static

Definition at line 178 of file timings-delassus-operations.cpp.

columnMajorLLTSolveInPlaceCall()

static PINOCCHIO_DONT_INLINE void columnMajorLLTSolveInPlaceCall ( Eigen::LLT< Eigen::MatrixXd > &  llt, const Eigen::VectorXd &  v  )

static

Definition at line 196 of file timings-delassus-operations.cpp.

computeDampedDelassusMatrixInverseCall()

static PINOCCHIO_DONT_INLINE void computeDampedDelassusMatrixInverseCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data, const Eigen::MatrixXd &  damped_delassus_inverse  )

static

Definition at line 252 of file timings-delassus-operations.cpp.

computeDampedDelassusMatrixInverseNoScaleNoPvCall()

static PINOCCHIO_DONT_INLINE void computeDampedDelassusMatrixInverseNoScaleNoPvCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data, const Eigen::MatrixXd &  damped_delassus_inverse  )

static

Definition at line 289 of file timings-delassus-operations.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_6D6D, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data_6D6D  )

static

Definition at line 88 of file timings-delassus-operations.cpp.

contactCholeskyDecompositionInverseCall()

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

static

Definition at line 113 of file timings-delassus-operations.cpp.

contactCholeskyDecompositionSolveInPlaceCall()

static PINOCCHIO_DONT_INLINE void contactCholeskyDecompositionSolveInPlaceCall ( pinocchio::ContactCholeskyDecomposition &  contact, const Eigen::VectorXd &  rhs_vector  )

static

Definition at line 155 of file timings-delassus-operations.cpp.

contactCholeskyDecompositionUpdateDampingCall()

static PINOCCHIO_DONT_INLINE void contactCholeskyDecompositionUpdateDampingCall ( pinocchio::ContactCholeskyDecomposition &  contact, double  damping  )

static

Definition at line 134 of file timings-delassus-operations.cpp.

CustomArguments()

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

static

Definition at line 81 of file timings-delassus-operations.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 215 of file timings-delassus-operations.cpp.

PINOCCHIO_BENCHMARK_MAIN()

PINOCCHIO_BENCHMARK_MAIN

(

)