timings-constrained-dynamics-derivatives.cpp File Reference

#include "model-fixture.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/aba-derivatives.hpp"
#include "pinocchio/algorithm/contact-dynamics.hpp"
#include "pinocchio/algorithm/constrained-dynamics-derivatives.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include <benchmark/benchmark.h>
#include <iostream>

Include dependency graph for timings-constrained-dynamics-derivatives.cpp:

Go to the source code of this file.

Classes
struct	ContactFixture

Functions
	BENCHMARK_DEFINE_F (ContactFixture, COMPUTE_ABA_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_6D6D)(benchmark
	BENCHMARK_DEFINE_F (ContactFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_EMPTY)(benchmark
	BENCHMARK_REGISTER_F (ContactFixture, COMPUTE_ABA_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_6D6D) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (ContactFixture, CONSTRAINT_DYNAMICS_DERIVATIVES_EMPTY) -> Apply(CustomArguments)
static PINOCCHIO_DONT_INLINE void	computeABADerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau)
static PINOCCHIO_DONT_INLINE void	constraintDynamicsDerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &contact_data)
static void	CustomArguments (benchmark::internal::Benchmark *b)
	PINOCCHIO_BENCHMARK_MAIN ()

Function Documentation

BENCHMARK_DEFINE_F() [1/4]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		COMPUTE_ABA_DERIVATIVES
	)

Definition at line 93 of file timings-constrained-dynamics-derivatives.cpp.

BENCHMARK_DEFINE_F() [2/4]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_DERIVATIVES_6D
	)

Definition at line 125 of file timings-constrained-dynamics-derivatives.cpp.

BENCHMARK_DEFINE_F() [3/4]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_DERIVATIVES_6D6D
	)

Definition at line 138 of file timings-constrained-dynamics-derivatives.cpp.

BENCHMARK_DEFINE_F() [4/4]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_DERIVATIVES_EMPTY
	)

Definition at line 112 of file timings-constrained-dynamics-derivatives.cpp.

BENCHMARK_REGISTER_F() [1/4]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		COMPUTE_ABA_DERIVATIVES
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [2/4]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_DERIVATIVES_6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [3/4]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_DERIVATIVES_6D6D
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [4/4]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		CONSTRAINT_DYNAMICS_DERIVATIVES_EMPTY
	)		-> Apply(CustomArguments)

computeABADerivativesCall()

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

static

Definition at line 84 of file timings-constrained-dynamics-derivatives.cpp.

constraintDynamicsDerivativesCall()

static PINOCCHIO_DONT_INLINE void constraintDynamicsDerivativesCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintModel) &  contact_models, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) &  contact_data  )

static

Definition at line 104 of file timings-constrained-dynamics-derivatives.cpp.

CustomArguments()

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

static

Definition at line 77 of file timings-constrained-dynamics-derivatives.cpp.

PINOCCHIO_BENCHMARK_MAIN()

PINOCCHIO_BENCHMARK_MAIN

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