Classes | Functions
timings-jacobian.cpp File Reference
#include "model-fixture.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include <iostream>
#include <benchmark/benchmark.h>
Include dependency graph for timings-jacobian.cpp:

Go to the source code of this file.

Classes

struct  JacobianFixture
 

Functions

 Apply (CustomArguments)
 
 BENCHMARK_DEFINE_F (JacobianFixture, COMPUTE_FRAME_JACOBIAN_LOCAL)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, COMPUTE_FRAME_JACOBIAN_LOCAL_WORLD_ALIGNED)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, COMPUTE_FRAME_JACOBIAN_WORLD)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, COMPUTE_JOINT_JACOBIAN)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, COMPUTE_JOINT_JACOBIANS)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, COMPUTE_JOINT_JACOBIANS_Q)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, FORWARD_KINEMATICS_Q)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, GET_FRAME_JACOBIAN_LOCAL)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, GET_FRAME_JACOBIAN_LOCAL_WORLD_ALIGNED)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, GET_FRAME_JACOBIAN_WORLD)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, GET_JOINT_JACOBIAN_LOCAL)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, GET_JOINT_JACOBIAN_LOCAL_WORLD_ALIGNED)(benchmark
 
 BENCHMARK_DEFINE_F (JacobianFixture, GET_JOINT_JACOBIAN_WORLD)(benchmark
 
 BENCHMARK_REGISTER_F (JacobianFixture, COMPUTE_FRAME_JACOBIAN_LOCAL) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, COMPUTE_FRAME_JACOBIAN_WORLD) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, COMPUTE_JOINT_JACOBIAN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, COMPUTE_JOINT_JACOBIANS) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, COMPUTE_JOINT_JACOBIANS_Q) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, FORWARD_KINEMATICS_Q) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, GET_FRAME_JACOBIAN_LOCAL) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, GET_FRAME_JACOBIAN_WORLD) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, GET_JOINT_JACOBIAN_LOCAL) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (JacobianFixture, GET_JOINT_JACOBIAN_WORLD) -> Apply(CustomArguments)
 
template<pinocchio::ReferenceFrame Frame>
static PINOCCHIO_DONT_INLINE void computeFrameJacobianCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, pinocchio::FrameIndex frame_id, const pinocchio::Data::Matrix6x &J)
 
static PINOCCHIO_DONT_INLINE void computeJointJacobianCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, pinocchio::Index joint_id, pinocchio::Data::Matrix6x &J)
 
static PINOCCHIO_DONT_INLINE void computeJointJacobiansCall (const pinocchio::Model &model, pinocchio::Data &data)
 
static PINOCCHIO_DONT_INLINE void computeJointJacobiansQCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q)
 
static void CustomArguments (benchmark::internal::Benchmark *b)
 
static PINOCCHIO_DONT_INLINE void forwardKinematicsQCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q)
 
template<pinocchio::ReferenceFrame Frame>
static PINOCCHIO_DONT_INLINE void getFrameJacobianCall (const pinocchio::Model &model, pinocchio::Data &data, pinocchio::FrameIndex frame_id, const pinocchio::Data::Matrix6x &J)
 
template<pinocchio::ReferenceFrame Frame>
static PINOCCHIO_DONT_INLINE void getJointJacobianCall (const pinocchio::Model &model, const pinocchio::Data &data, pinocchio::Index joint_id, const pinocchio::Data::Matrix6x &J)
 
 PINOCCHIO_BENCHMARK_MAIN ()
 

Function Documentation

◆ Apply()

Apply ( CustomArguments  )

◆ BENCHMARK_DEFINE_F() [1/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
COMPUTE_FRAME_JACOBIAN_LOCAL   
)

Definition at line 216 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [2/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
COMPUTE_FRAME_JACOBIAN_LOCAL_WORLD_ALIGNED   
)

Definition at line 232 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [3/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
COMPUTE_FRAME_JACOBIAN_WORLD   
)

Definition at line 224 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [4/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
COMPUTE_JOINT_JACOBIAN   
)

Definition at line 75 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [5/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
COMPUTE_JOINT_JACOBIANS   
)

Definition at line 107 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [6/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
COMPUTE_JOINT_JACOBIANS_Q   
)

Definition at line 91 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [7/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
FORWARD_KINEMATICS_Q   
)

Definition at line 55 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [8/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
GET_FRAME_JACOBIAN_LOCAL   
)

Definition at line 170 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [9/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
GET_FRAME_JACOBIAN_LOCAL_WORLD_ALIGNED   
)

Definition at line 191 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [10/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
GET_FRAME_JACOBIAN_WORLD   
)

Definition at line 181 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [11/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
GET_JOINT_JACOBIAN_LOCAL   
)

Definition at line 129 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [12/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
GET_JOINT_JACOBIAN_LOCAL_WORLD_ALIGNED   
)

Definition at line 147 of file timings-jacobian.cpp.

◆ BENCHMARK_DEFINE_F() [13/13]

BENCHMARK_DEFINE_F ( JacobianFixture  ,
GET_JOINT_JACOBIAN_WORLD   
)

Definition at line 138 of file timings-jacobian.cpp.

◆ BENCHMARK_REGISTER_F() [1/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
COMPUTE_FRAME_JACOBIAN_LOCAL   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [2/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
COMPUTE_FRAME_JACOBIAN_WORLD   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [3/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
COMPUTE_JOINT_JACOBIAN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [4/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
COMPUTE_JOINT_JACOBIANS   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [5/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
COMPUTE_JOINT_JACOBIANS_Q   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [6/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
FORWARD_KINEMATICS_Q   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [7/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
GET_FRAME_JACOBIAN_LOCAL   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [8/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
GET_FRAME_JACOBIAN_WORLD   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [9/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
GET_JOINT_JACOBIAN_LOCAL   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [10/10]

BENCHMARK_REGISTER_F ( JacobianFixture  ,
GET_JOINT_JACOBIAN_WORLD   
) -> Apply(CustomArguments)

◆ computeFrameJacobianCall()

template<pinocchio::ReferenceFrame Frame>
static PINOCCHIO_DONT_INLINE void computeFrameJacobianCall ( const pinocchio::Model &  model,
pinocchio::Data &  data,
const Eigen::VectorXd &  q,
pinocchio::FrameIndex  frame_id,
const pinocchio::Data::Matrix6x &  J 
)
static

Definition at line 206 of file timings-jacobian.cpp.

◆ computeJointJacobianCall()

static PINOCCHIO_DONT_INLINE void computeJointJacobianCall ( const pinocchio::Model &  model,
pinocchio::Data &  data,
const Eigen::VectorXd &  q,
pinocchio::Index  joint_id,
pinocchio::Data::Matrix6x &  J 
)
static

Definition at line 66 of file timings-jacobian.cpp.

◆ computeJointJacobiansCall()

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

Definition at line 103 of file timings-jacobian.cpp.

◆ computeJointJacobiansQCall()

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

Definition at line 86 of file timings-jacobian.cpp.

◆ CustomArguments()

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

Definition at line 20 of file timings-jacobian.cpp.

◆ forwardKinematicsQCall()

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

Definition at line 50 of file timings-jacobian.cpp.

◆ getFrameJacobianCall()

template<pinocchio::ReferenceFrame Frame>
static PINOCCHIO_DONT_INLINE void getFrameJacobianCall ( const pinocchio::Model &  model,
pinocchio::Data &  data,
pinocchio::FrameIndex  frame_id,
const pinocchio::Data::Matrix6x &  J 
)
static

Definition at line 161 of file timings-jacobian.cpp.

◆ getJointJacobianCall()

template<pinocchio::ReferenceFrame Frame>
static PINOCCHIO_DONT_INLINE void getJointJacobianCall ( const pinocchio::Model &  model,
const pinocchio::Data &  data,
pinocchio::Index  joint_id,
const pinocchio::Data::Matrix6x &  J 
)
static

Definition at line 120 of file timings-jacobian.cpp.

◆ PINOCCHIO_BENCHMARK_MAIN()

PINOCCHIO_BENCHMARK_MAIN ( )

pinocchio
Author(s):
autogenerated on Wed May 28 2025 02:41:23