Classes | Functions
timings-cg.cpp File Reference
#include "model-fixture.hpp"
#include "pinocchio/codegen/cppadcg.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/constrained-dynamics-derivatives.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/container/aligned-vector.hpp"
#include "pinocchio/codegen/code-generator-algo.hpp"
#include <iostream>
Include dependency graph for timings-cg.cpp:

Go to the source code of this file.

Classes

struct  CGFixture
 

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)
 
 BENCHMARK_DEFINE_F (CGFixture, ABA)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, ABA_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, ABA_DERIVATIVES_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, ABA_JACOBIAN_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, COMPUTE_M_INVERSE)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, COMPUTE_M_INVERSE_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, CONSTRAINT_DYNAMICS_DERIVATIVES)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, CRBA)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, CRBA_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, RNEA)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, RNEA_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, RNEA_DERIVATIVES_CODE_GEN)(benchmark
 
 BENCHMARK_DEFINE_F (CGFixture, RNEA_JACOBIAN_CODE_GEN)(benchmark
 
 BENCHMARK_REGISTER_F (CGFixture, ABA) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, ABA_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, ABA_DERIVATIVES_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, ABA_JACOBIAN_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, COMPUTE_M_INVERSE) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, COMPUTE_M_INVERSE_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, CONSTRAINT_DYNAMICS_DERIVATIVES) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, CRBA) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, CRBA_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, RNEA) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, RNEA_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, RNEA_DERIVATIVES_CODE_GEN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CGFixture, RNEA_JACOBIAN_CODE_GEN) -> Apply(CustomArguments)
 
static PINOCCHIO_DONT_INLINE void computeMinverseQCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q)
 
PINOCCHIO_DONT_INLINE void constraintDynamicsDerivativeCall (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_6d6d, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_datas_6d6d)
 
static PINOCCHIO_DONT_INLINE void crbaWorldCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q)
 
static void CustomArguments (benchmark::internal::Benchmark *b)
 
 PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP (CGFixture::GlobalSetUp)
 
static PINOCCHIO_DONT_INLINE void rneaCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
 

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 236 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [1/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
ABA   
)

Definition at line 245 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [2/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
ABA_CODE_GEN   
)

Definition at line 256 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [3/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
ABA_DERIVATIVES_CODE_GEN   
)

Definition at line 278 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [4/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
ABA_JACOBIAN_CODE_GEN   
)

Definition at line 267 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [5/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
COMPUTE_M_INVERSE   
)

Definition at line 214 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [6/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
COMPUTE_M_INVERSE_CODE_GEN   
)

Definition at line 225 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [7/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
CONSTRAINT_DYNAMICS_DERIVATIVES   
)

Definition at line 303 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [8/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
CONSTRAINT_DYNAMICS_DERIVATIVES_CODE_GEN   
)

Definition at line 316 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [9/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
CRBA   
)

Definition at line 187 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [10/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
CRBA_CODE_GEN   
)

Definition at line 198 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [11/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
RNEA   
)

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

◆ BENCHMARK_DEFINE_F() [12/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
RNEA_CODE_GEN   
)

Definition at line 149 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [13/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
RNEA_DERIVATIVES_CODE_GEN   
)

Definition at line 171 of file timings-cg.cpp.

◆ BENCHMARK_DEFINE_F() [14/14]

BENCHMARK_DEFINE_F ( CGFixture  ,
RNEA_JACOBIAN_CODE_GEN   
)

Definition at line 160 of file timings-cg.cpp.

◆ BENCHMARK_REGISTER_F() [1/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
ABA   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [2/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
ABA_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [3/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
ABA_DERIVATIVES_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [4/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
ABA_JACOBIAN_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [5/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
COMPUTE_M_INVERSE   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [6/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
COMPUTE_M_INVERSE_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [7/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
CONSTRAINT_DYNAMICS_DERIVATIVES   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [8/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
CONSTRAINT_DYNAMICS_DERIVATIVES_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [9/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
CRBA   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [10/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
CRBA_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [11/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
RNEA   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [12/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
RNEA_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [13/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
RNEA_DERIVATIVES_CODE_GEN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [14/14]

BENCHMARK_REGISTER_F ( CGFixture  ,
RNEA_JACOBIAN_CODE_GEN   
) -> Apply(CustomArguments)

◆ computeMinverseQCall()

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

Definition at line 209 of file timings-cg.cpp.

◆ constraintDynamicsDerivativeCall()

PINOCCHIO_DONT_INLINE void constraintDynamicsDerivativeCall ( 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_6d6d,
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_datas_6d6d 
)

Definition at line 289 of file timings-cg.cpp.

◆ crbaWorldCall()

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

Definition at line 183 of file timings-cg.cpp.

◆ CustomArguments()

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

Definition at line 122 of file timings-cg.cpp.

◆ PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP()

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP ( CGFixture::GlobalSetUp  )

◆ rneaCall()

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

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


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