timings-cg.cpp

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//
// Copyright (c) 2018 CNRS
//
 
#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/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 "pinocchio/utils/timer.hpp"
 
int main(int argc, const char ** argv)
{
  using namespace Eigen;
  using namespace pinocchio;
 
  PinocchioTicToc timer(PinocchioTicToc::US);
#ifdef NDEBUG
  const int NBT = 1000 * 100;
#else
  const int NBT = 1;
  std::cout << "(the time score in debug mode is not relevant) " << std::endl;
#endif
 
  pinocchio::Model model;
  std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
  if (argc > 1)
    filename = argv[1];
 
  bool with_ff = true;
  if (argc > 2)
  {
    const std::string ff_option = argv[2];
    if (ff_option == "-no-ff")
      with_ff = false;
  }
 
  if (filename == "H")
    pinocchio::buildModels::humanoidRandom(model, true);
  else if (with_ff)
    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
  else
    pinocchio::urdf::buildModel(filename, model);
 
  std::cout << "nq = " << model.nq << std::endl;
  std::cout << "nv = " << model.nv << std::endl;
  std::cout << "--" << std::endl;
 
  pinocchio::Data data(model);
 
  const std::string RF = "RLEG_ANKLE_R";
  const std::string LF = "LLEG_ANKLE_R";
  PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models_6D6D;
 
  RigidConstraintModel ci_RF(CONTACT_6D, model, model.getFrameId(RF), WORLD);
  RigidConstraintModel ci_LF(CONTACT_6D, model, model.getFrameId(LF), WORLD);
  contact_models_6D6D.push_back(ci_RF);
  contact_models_6D6D.push_back(ci_LF);
 
  PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData) contact_datas_6D6D;
 
  RigidConstraintData cd_RF(ci_RF);
  contact_datas_6D6D.push_back(cd_RF);
  RigidConstraintData cd_LF(ci_LF);
  contact_datas_6D6D.push_back(cd_LF);
 
  VectorXd qmax = Eigen::VectorXd::Ones(model.nq);
 
  CodeGenRNEA<double> rnea_code_gen(model);
  rnea_code_gen.initLib();
  rnea_code_gen.loadLib();
 
  CodeGenABA<double> aba_code_gen(model);
  aba_code_gen.initLib();
  aba_code_gen.loadLib();
 
  CodeGenCRBA<double> crba_code_gen(model);
  crba_code_gen.initLib();
  crba_code_gen.loadLib();
 
  CodeGenMinv<double> minv_code_gen(model);
  minv_code_gen.initLib();
  minv_code_gen.loadLib();
 
  CodeGenRNEADerivatives<double> rnea_derivatives_code_gen(model);
  rnea_derivatives_code_gen.initLib();
  rnea_derivatives_code_gen.loadLib();
 
  CodeGenABADerivatives<double> aba_derivatives_code_gen(model);
  aba_derivatives_code_gen.initLib();
  aba_derivatives_code_gen.loadLib();
 
  CodeGenConstraintDynamicsDerivatives<double> constraint_dynamics_derivatives_code_gen(
    model, contact_models_6D6D);
  constraint_dynamics_derivatives_code_gen.initLib();
  constraint_dynamics_derivatives_code_gen.loadLib();
 
  pinocchio::container::aligned_vector<VectorXd> qs(NBT);
  pinocchio::container::aligned_vector<VectorXd> qdots(NBT);
  pinocchio::container::aligned_vector<VectorXd> qddots(NBT);
  pinocchio::container::aligned_vector<VectorXd> taus(NBT);
 
  for (size_t i = 0; i < NBT; ++i)
  {
    qs[i] = randomConfiguration(model, -qmax, qmax);
    qdots[i] = Eigen::VectorXd::Random(model.nv);
    qddots[i] = Eigen::VectorXd::Random(model.nv);
    taus[i] = Eigen::VectorXd::Random(model.nv);
  }
 
  timer.tic();
  SMOOTH(NBT)
  {
    rnea(model, data, qs[_smooth], qdots[_smooth], qddots[_smooth]);
  }
  std::cout << "RNEA = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    rnea_code_gen.evalFunction(qs[_smooth], qdots[_smooth], qddots[_smooth]);
  }
  std::cout << "RNEA generated = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    rnea_code_gen.evalJacobian(qs[_smooth], qdots[_smooth], qddots[_smooth]);
  }
  std::cout << "RNEA partial derivatives auto diff + code gen = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    rnea_derivatives_code_gen.evalFunction(qs[_smooth], qdots[_smooth], qddots[_smooth]);
  }
  std::cout << "RNEA partial derivatives code gen = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    aba(model, data, qs[_smooth], qdots[_smooth], taus[_smooth], Convention::WORLD);
  }
  timer.toc();
 
  timer.tic();
  SMOOTH(NBT)
  {
    crba(model, data, qs[_smooth], Convention::WORLD);
  }
  std::cout << "CRBA = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    crba_code_gen.evalFunction(qs[_smooth]);
  }
  std::cout << "CRBA generated = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    computeMinverse(model, data, qs[_smooth]);
  }
  std::cout << "Minv = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    minv_code_gen.evalFunction(qs[_smooth]);
  }
  std::cout << "Minv generated = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    aba(model, data, qs[_smooth], qdots[_smooth], taus[_smooth], Convention::WORLD);
  }
  std::cout << "ABA = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    aba_code_gen.evalFunction(qs[_smooth], qdots[_smooth], taus[_smooth]);
  }
  std::cout << "ABA generated = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    aba_code_gen.evalJacobian(qs[_smooth], qdots[_smooth], taus[_smooth]);
  }
  std::cout << "ABA partial derivatives auto diff + code gen = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    aba_derivatives_code_gen.evalFunction(qs[_smooth], qdots[_smooth], qddots[_smooth]);
  }
  std::cout << "ABA partial derivatives code gen = \t\t";
  timer.toc(std::cout, NBT);
 
  pinocchio::initConstraintDynamics(model, data, contact_models_6D6D);
  timer.tic();
  SMOOTH(NBT)
  {
    pinocchio::constraintDynamics(
      model, data, qs[_smooth], qdots[_smooth], qddots[_smooth], contact_models_6D6D,
      contact_datas_6D6D);
    pinocchio::computeConstraintDynamicsDerivatives(
      model, data, contact_models_6D6D, contact_datas_6D6D);
  }
  std::cout << "contact dynamics derivatives 6D,6D = \t\t";
  timer.toc(std::cout, NBT);
 
  timer.tic();
  SMOOTH(NBT)
  {
    constraint_dynamics_derivatives_code_gen.evalFunction(
      qs[_smooth], qdots[_smooth], qddots[_smooth]);
  }
  std::cout << "contact dynamics derivatives 6D,6D code gen = \t\t";
  timer.toc(std::cout, NBT);
 
  return 0;
}