Classes | Functions
timings-cholesky.cpp File Reference
#include "model-fixture.hpp"
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include <iostream>
Include dependency graph for timings-cholesky.cpp:

Go to the source code of this file.

Classes

struct  CholeskyFixture
 

Functions

 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_COMPUTE_M_INV)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_DECOMPOSE)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_DENSE_M_INVERSE)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_M_INV_MULT_B)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_M_INV_MULT_V)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_SOLVE)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_SOLVE_COLUMN)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, CHOLESKY_UDUtv)(benchmark
 
 BENCHMARK_DEFINE_F (CholeskyFixture, DENSE_CHOLESKY_DECOMPOSE)(benchmark
 
 BENCHMARK_DEFINE_F (ModelFixture, COMPUTE_M_INVERSE_Q)(benchmark
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_COMPUTE_M_INV) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_DECOMPOSE) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_DENSE_M_INVERSE) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_M_INV_MULT_B) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_M_INV_MULT_V) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_SOLVE) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_SOLVE_COLUMN) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, CHOLESKY_UDUtv) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (CholeskyFixture, DENSE_CHOLESKY_DECOMPOSE) -> Apply(CustomArguments)
 
 BENCHMARK_REGISTER_F (ModelFixture, COMPUTE_M_INVERSE_Q) -> Apply(CustomArguments)
 
static PINOCCHIO_DONT_INLINE void choleskyComputeMInvCall (const pinocchio::Model &model, const pinocchio::Data &data, Eigen::MatrixXd &Minv)
 
static PINOCCHIO_DONT_INLINE void choleskyDecomposeCall (const pinocchio::Model &model, pinocchio::Data &data)
 
static PINOCCHIO_DONT_INLINE void choleskyDenseMInverse (const Eigen::MatrixXd &M, Eigen::MatrixXd &A)
 
static PINOCCHIO_DONT_INLINE void choleskyMInvMultB (const Eigen::MatrixXd &Minv, const Eigen::MatrixXd &B, Eigen::MatrixXd &A)
 
static PINOCCHIO_DONT_INLINE void choleskyMInvMultV (const Eigen::MatrixXd &Minv, const Eigen::VectorXd &rhs, Eigen::VectorXd &lhs)
 
static PINOCCHIO_DONT_INLINE void choleskySolveCall (const pinocchio::Model &model, const pinocchio::Data &data, Eigen::VectorXd &rhs)
 
static PINOCCHIO_DONT_INLINE void choleskySolveColumnCall (const pinocchio::Model &model, const pinocchio::Data &data, Eigen::MatrixXd &Minv)
 
static PINOCCHIO_DONT_INLINE void choleskyUDUtvCall (const pinocchio::Model &model, const pinocchio::Data &data, Eigen::VectorXd &rhs)
 
static PINOCCHIO_DONT_INLINE void computeMinverseQCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q)
 
static void CustomArguments (benchmark::internal::Benchmark *b)
 
static PINOCCHIO_DONT_INLINE void denseCholeksyDecomposeCall (Eigen::LDLT< Eigen::MatrixXd > &M_ldlt, const pinocchio::Data &data)
 
 PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP (CholeskyFixture::GlobalSetUp)
 

Function Documentation

◆ BENCHMARK_DEFINE_F() [1/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_COMPUTE_M_INV   
)

Definition at line 131 of file timings-cholesky.cpp.

◆ BENCHMARK_DEFINE_F() [2/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_DECOMPOSE   
)

Definition at line 62 of file timings-cholesky.cpp.

◆ BENCHMARK_DEFINE_F() [3/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_DENSE_M_INVERSE   
)

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

◆ BENCHMARK_DEFINE_F() [4/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_M_INV_MULT_B   
)

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

◆ BENCHMARK_DEFINE_F() [5/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_M_INV_MULT_V   
)

Definition at line 164 of file timings-cholesky.cpp.

◆ BENCHMARK_DEFINE_F() [6/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_SOLVE   
)

Definition at line 99 of file timings-cholesky.cpp.

◆ BENCHMARK_DEFINE_F() [7/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_SOLVE_COLUMN   
)

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

◆ BENCHMARK_DEFINE_F() [8/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
CHOLESKY_UDUtv   
)

Definition at line 115 of file timings-cholesky.cpp.

◆ BENCHMARK_DEFINE_F() [9/10]

BENCHMARK_DEFINE_F ( CholeskyFixture  ,
DENSE_CHOLESKY_DECOMPOSE   
)

Definition at line 79 of file timings-cholesky.cpp.

◆ BENCHMARK_DEFINE_F() [10/10]

BENCHMARK_DEFINE_F ( ModelFixture  ,
COMPUTE_M_INVERSE_Q   
)

Definition at line 217 of file timings-cholesky.cpp.

◆ BENCHMARK_REGISTER_F() [1/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_COMPUTE_M_INV   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [2/10]

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

◆ BENCHMARK_REGISTER_F() [3/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_DENSE_M_INVERSE   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [4/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_M_INV_MULT_B   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [5/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_M_INV_MULT_V   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [6/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_SOLVE   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [7/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_SOLVE_COLUMN   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [8/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
CHOLESKY_UDUtv   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [9/10]

BENCHMARK_REGISTER_F ( CholeskyFixture  ,
DENSE_CHOLESKY_DECOMPOSE   
) -> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [10/10]

BENCHMARK_REGISTER_F ( ModelFixture  ,
COMPUTE_M_INVERSE_Q   
) -> Apply(CustomArguments)

◆ choleskyComputeMInvCall()

static PINOCCHIO_DONT_INLINE void choleskyComputeMInvCall ( const pinocchio::Model &  model,
const pinocchio::Data &  data,
Eigen::MatrixXd &  Minv 
)
static

Definition at line 126 of file timings-cholesky.cpp.

◆ choleskyDecomposeCall()

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

Definition at line 58 of file timings-cholesky.cpp.

◆ choleskyDenseMInverse()

static PINOCCHIO_DONT_INLINE void choleskyDenseMInverse ( const Eigen::MatrixXd &  M,
Eigen::MatrixXd &  A 
)
static

Definition at line 194 of file timings-cholesky.cpp.

◆ choleskyMInvMultB()

static PINOCCHIO_DONT_INLINE void choleskyMInvMultB ( const Eigen::MatrixXd &  Minv,
const Eigen::MatrixXd &  B,
Eigen::MatrixXd &  A 
)
static

Definition at line 177 of file timings-cholesky.cpp.

◆ choleskyMInvMultV()

static PINOCCHIO_DONT_INLINE void choleskyMInvMultV ( const Eigen::MatrixXd &  Minv,
const Eigen::VectorXd &  rhs,
Eigen::VectorXd &  lhs 
)
static

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

◆ choleskySolveCall()

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

Definition at line 94 of file timings-cholesky.cpp.

◆ choleskySolveColumnCall()

static PINOCCHIO_DONT_INLINE void choleskySolveColumnCall ( const pinocchio::Model &  model,
const pinocchio::Data &  data,
Eigen::MatrixXd &  Minv 
)
static

Definition at line 142 of file timings-cholesky.cpp.

◆ choleskyUDUtvCall()

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

Definition at line 110 of file timings-cholesky.cpp.

◆ computeMinverseQCall()

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

Definition at line 212 of file timings-cholesky.cpp.

◆ CustomArguments()

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

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

◆ denseCholeksyDecomposeCall()

static PINOCCHIO_DONT_INLINE void denseCholeksyDecomposeCall ( Eigen::LDLT< Eigen::MatrixXd > &  M_ldlt,
const pinocchio::Data &  data 
)
static

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

◆ PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP()

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP ( CholeskyFixture::GlobalSetUp  )

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