timings-cppad-jit.cpp File Reference

#include "model-fixture.hpp"
#include "pinocchio/codegen/cppadcg.hpp"
#include "pinocchio/codegen/code-generator-algo.hpp"
#include "pinocchio/container/aligned-vector.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include <cppad/core/to_csrc.hpp>
#include <iostream>
#include <benchmark/benchmark.h>

Include dependency graph for timings-cppad-jit.cpp:

Go to the source code of this file.

Classes
struct	CPPADJITFixture

Macros
#define	DLL_EXT   ".so"

Typedefs
typedef ADCGModel::ConfigVectorType	ADCGConfigVectorType
typedef ADCGModel::Data	ADCGData
typedef CppAD::ADFun< CGScalar >	ADCGFun
typedef pinocchio::ModelTpl< ADCGScalar >	ADCGModel
typedef CppAD::AD< CGScalar >	ADCGScalar
typedef ADCGModel::TangentVectorType	ADCGTangentVectorType
typedef Eigen::Matrix< ADCGScalar, Eigen::Dynamic, 1, Options >	ADCGVectorXs
typedef ADModel::ConfigVectorType	ADConfigVectorType
typedef ADModel::Data	ADData
typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, Eigen::Dynamic >	ADMatrixXs
typedef pinocchio::ModelTpl< ADScalar >	ADModel
typedef CppAD::AD< Scalar >	ADScalar
typedef ADModel::TangentVectorType	ADTangentVectorType
typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, 1 >	ADVectorXs
typedef CppAD::cg::CG< Scalar >	CGScalar
typedef Model::ConfigVectorType	ConfigVectorType
typedef Model::Data	Data
typedef pinocchio::ModelTpl< Scalar >	Model
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	RowMatrixXs
typedef double	Scalar
typedef Model::TangentVectorType	TangentVectorType

Enumerations
enum	{ Options = 0 }

Functions
	BENCHMARK_DEFINE_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES_AD)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES_AD_CG)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES_AD_JIT)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, CRBA_WORLD)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, CRBA_WORLD_AD)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, CRBA_WORLD_AD_CG)(benchmark
	BENCHMARK_DEFINE_F (CPPADJITFixture, CRBA_WORLD_AD_JIT)(benchmark
	BENCHMARK_REGISTER_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES_AD) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES_AD_CG) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, COMPUTE_RNEA_DERIVATIVES_AD_JIT) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, CRBA_WORLD) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, CRBA_WORLD_AD) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, CRBA_WORLD_AD_CG) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (CPPADJITFixture, CRBA_WORLD_AD_JIT) -> Apply(CustomArguments)
static PINOCCHIO_DONT_INLINE void	computeRNEADerivativesADCall (CppAD::ADFun< Scalar > &ad_fun, const CPPAD_TESTVECTOR(Scalar) &x, CPPAD_TESTVECTOR(Scalar) &dtau_da)
static PINOCCHIO_DONT_INLINE void	computeRNEADerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
static PINOCCHIO_DONT_INLINE void	crbaWorldADCall (CppAD::ADFun< Scalar > &ad_fun, const CPPAD_TESTVECTOR(Scalar) &x, CPPAD_TESTVECTOR(Scalar) &M_vector)
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 (CPPADJITFixture::GlobalSetUp)

Macro Definition Documentation

DLL_EXT

#define DLL_EXT   ".so"

Definition at line 30 of file timings-cppad-jit.cpp.

Typedef Documentation

ADCGConfigVectorType

typedef ADCGModel::ConfigVectorType ADCGConfigVectorType

Definition at line 63 of file timings-cppad-jit.cpp.

ADCGData

typedef ADCGModel::Data ADCGData

Definition at line 55 of file timings-cppad-jit.cpp.

ADCGFun

typedef CppAD::ADFun<CGScalar> ADCGFun

Definition at line 41 of file timings-cppad-jit.cpp.

ADCGModel

typedef pinocchio::ModelTpl<ADCGScalar> ADCGModel

Definition at line 54 of file timings-cppad-jit.cpp.

ADCGScalar

typedef CppAD::AD<CGScalar> ADCGScalar

Definition at line 40 of file timings-cppad-jit.cpp.

ADCGTangentVectorType

typedef ADCGModel::TangentVectorType ADCGTangentVectorType

Definition at line 64 of file timings-cppad-jit.cpp.

ADCGVectorXs

typedef Eigen::Matrix<ADCGScalar, Eigen::Dynamic, 1, Options> ADCGVectorXs

Definition at line 44 of file timings-cppad-jit.cpp.

ADConfigVectorType

typedef ADModel::ConfigVectorType ADConfigVectorType

Definition at line 60 of file timings-cppad-jit.cpp.

ADData

typedef ADModel::Data ADData

Definition at line 52 of file timings-cppad-jit.cpp.

ADMatrixXs

typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, Eigen::Dynamic> ADMatrixXs

Definition at line 45 of file timings-cppad-jit.cpp.

ADModel

typedef pinocchio::ModelTpl<ADScalar> ADModel

Definition at line 51 of file timings-cppad-jit.cpp.

ADScalar

typedef CppAD::AD<Scalar> ADScalar

Definition at line 38 of file timings-cppad-jit.cpp.

ADTangentVectorType

typedef ADModel::TangentVectorType ADTangentVectorType

Definition at line 61 of file timings-cppad-jit.cpp.

ADVectorXs

typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, 1> ADVectorXs

Definition at line 43 of file timings-cppad-jit.cpp.

CGScalar

typedef CppAD::cg::CG<Scalar> CGScalar

Definition at line 39 of file timings-cppad-jit.cpp.

ConfigVectorType

typedef Model::ConfigVectorType ConfigVectorType

Definition at line 57 of file timings-cppad-jit.cpp.

Data

typedef Model::Data Data

Definition at line 49 of file timings-cppad-jit.cpp.

Model

typedef pinocchio::ModelTpl<Scalar> Model

Definition at line 48 of file timings-cppad-jit.cpp.

RowMatrixXs

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> RowMatrixXs

Definition at line 46 of file timings-cppad-jit.cpp.

Scalar

typedef double Scalar

Definition at line 37 of file timings-cppad-jit.cpp.

TangentVectorType

typedef Model::TangentVectorType TangentVectorType

Definition at line 58 of file timings-cppad-jit.cpp.

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
Options

Definition at line 33 of file timings-cppad-jit.cpp.

Function Documentation

BENCHMARK_DEFINE_F() [1/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES
	)

Definition at line 351 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [2/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES_AD
	)

Definition at line 369 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [3/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES_AD_CG
	)

Definition at line 432 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [4/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES_AD_JIT
	)

Definition at line 395 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [5/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		CRBA_WORLD
	)

Definition at line 243 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [6/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		CRBA_WORLD_AD
	)

Definition at line 261 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [7/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		CRBA_WORLD_AD_CG
	)

Definition at line 313 of file timings-cppad-jit.cpp.

BENCHMARK_DEFINE_F() [8/8]

BENCHMARK_DEFINE_F	(	CPPADJITFixture	,
		CRBA_WORLD_AD_JIT
	)

Definition at line 286 of file timings-cppad-jit.cpp.

BENCHMARK_REGISTER_F() [1/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [2/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES_AD
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [3/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES_AD_CG
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [4/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		COMPUTE_RNEA_DERIVATIVES_AD_JIT
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [5/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		CRBA_WORLD
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [6/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		CRBA_WORLD_AD
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [7/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		CRBA_WORLD_AD_CG
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [8/8]

BENCHMARK_REGISTER_F	(	CPPADJITFixture	,
		CRBA_WORLD_AD_JIT
	)		-> Apply(CustomArguments)

computeRNEADerivativesADCall()

static PINOCCHIO_DONT_INLINE void computeRNEADerivativesADCall ( CppAD::ADFun< Scalar > &  ad_fun, const CPPAD_TESTVECTOR(Scalar) &  x, CPPAD_TESTVECTOR(Scalar) &  dtau_da  )

static

Definition at line 362 of file timings-cppad-jit.cpp.

computeRNEADerivativesCall()

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

static

Definition at line 342 of file timings-cppad-jit.cpp.

crbaWorldADCall()

static PINOCCHIO_DONT_INLINE void crbaWorldADCall ( CppAD::ADFun< Scalar > &  ad_fun, const CPPAD_TESTVECTOR(Scalar) &  x, CPPAD_TESTVECTOR(Scalar) &  M_vector  )

static

Definition at line 254 of file timings-cppad-jit.cpp.

crbaWorldCall()

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

static

Definition at line 237 of file timings-cppad-jit.cpp.

CustomArguments()

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

static

Definition at line 229 of file timings-cppad-jit.cpp.

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP()

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP

(

CPPADJITFixture::GlobalSetUp

)