timings-derivatives.cpp File Reference

#include "model-fixture.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/kinematics-derivatives.hpp"
#include "pinocchio/algorithm/rnea-derivatives.hpp"
#include "pinocchio/algorithm/rnea-second-order-derivatives.hpp"
#include "pinocchio/algorithm/aba-derivatives.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/container/aligned-vector.hpp"
#include <iostream>

Include dependency graph for timings-derivatives.cpp:

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Classes
struct	DerivativesFixture

Typedefs
typedef pinocchio::Data::Tensor3x	Tensor3x

Functions
void	aba_fd (const pinocchio::Model &model, pinocchio::Data &data_fd, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, Eigen::MatrixXd &daba_dq, Eigen::MatrixXd &daba_dv, pinocchio::Data::RowMatrixXs &daba_dtau)
static PINOCCHIO_DONT_INLINE void	abaLocalCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau)
	Apply (CustomArguments)
	BENCHMARK_DEFINE_F (DerivativesFixture, ABA_LOCAL)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_ABA_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_ABA_DERIVATIVES_NO_Q_V_TAU)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_ABA_FD_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_CHOLESKY_M_INVERSE)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_M_INVERSE)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_M_INVERSE_Q)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_RNEA_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMPUTE_RNEA_FD_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, COMUTE_RNEA_SECOND_ORDER_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, FORWARD_KINEMATICS_DERIVATIVES)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, FORWARD_KINEMATICS_Q_V_A)(benchmark
	BENCHMARK_DEFINE_F (DerivativesFixture, RNEA)(benchmark
	BENCHMARK_REGISTER_F (DerivativesFixture, ABA_LOCAL) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_ABA_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_ABA_FD_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_CHOLESKY_M_INVERSE) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_M_INVERSE) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_M_INVERSE_Q) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_RNEA_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, COMPUTE_RNEA_FD_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, FORWARD_KINEMATICS_DERIVATIVES) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, FORWARD_KINEMATICS_Q_V_A) -> Apply(CustomArguments)
	BENCHMARK_REGISTER_F (DerivativesFixture, RNEA) -> 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, const Eigen::MatrixXd &daba_dq, const Eigen::MatrixXd &daba_dv, const pinocchio::Data::RowMatrixXs &daba_dtau)
static PINOCCHIO_DONT_INLINE void	computeABADerivativesNoQVTauCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixXd &daba_dq, const Eigen::MatrixXd &daba_dv, const pinocchio::Data::RowMatrixXs &daba_dtau)
static PINOCCHIO_DONT_INLINE void	computeABAFDDerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, Eigen::MatrixXd &daba_dq, Eigen::MatrixXd &daba_dv, pinocchio::Data::RowMatrixXs &daba_dtau)
static PINOCCHIO_DONT_INLINE void	computeCholeskyMinverseCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, Eigen::MatrixXd &Minv)
static PINOCCHIO_DONT_INLINE void	computeForwardKinematicsDerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
static PINOCCHIO_DONT_INLINE void	computeMinverseCall (const pinocchio::Model &model, pinocchio::Data &data)
static PINOCCHIO_DONT_INLINE void	computeMinverseQCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q)
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, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &drnea_dq, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &drnea_dv, const Eigen::MatrixXd &drnea_da)
static PINOCCHIO_DONT_INLINE void	computeRNEAFDDerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &drnea_dq, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &drnea_dv, const Eigen::MatrixXd &drnea_da)
static PINOCCHIO_DONT_INLINE void	computeRNEASecondOrderDerivativesCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const Tensor3x &dtau2_dq, const Tensor3x &dtau2_dv, const Tensor3x &dtau2_dqv, const Tensor3x &dtau_dadq)
static void	CustomArguments (benchmark::internal::Benchmark *b)
static PINOCCHIO_DONT_INLINE void	forwardKinematicsQVACall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
	PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP (DerivativesFixture::GlobalSetUp)
template<typename Matrix1 , typename Matrix2 , typename Matrix3 >
void	rnea_fd (const pinocchio::Model &model, pinocchio::Data &data_fd, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const Eigen::MatrixBase< Matrix1 > &_drnea_dq, const Eigen::MatrixBase< Matrix2 > &_drnea_dv, const Eigen::MatrixBase< Matrix3 > &_drnea_da)
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)

Typedef Documentation

Tensor3x

typedef pinocchio::Data::Tensor3x Tensor3x

Definition at line 23 of file timings-derivatives.cpp.

Function Documentation

aba_fd()

void aba_fd	(	const pinocchio::Model &	model,
		pinocchio::Data &	data_fd,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	tau,
		Eigen::MatrixXd &	daba_dq,
		Eigen::MatrixXd &	daba_dv,
		pinocchio::Data::RowMatrixXs &	daba_dtau
	)

Definition at line 76 of file timings-derivatives.cpp.

abaLocalCall()

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

static

Definition at line 306 of file timings-derivatives.cpp.

Apply()

Apply

(

CustomArguments

)

BENCHMARK_DEFINE_F() [1/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		ABA_LOCAL
	)

Definition at line 315 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [2/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_ABA_DERIVATIVES
	)

Definition at line 338 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [3/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_ABA_DERIVATIVES_NO_Q_V_TAU
	)

Definition at line 358 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [4/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_ABA_FD_DERIVATIVES
	)

Definition at line 383 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [5/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_CHOLESKY_M_INVERSE
	)

Definition at line 437 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [6/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_M_INVERSE
	)

Definition at line 415 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [7/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_M_INVERSE_Q
	)

Definition at line 399 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [8/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_RNEA_DERIVATIVES
	)

Definition at line 246 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [9/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMPUTE_RNEA_FD_DERIVATIVES
	)

Definition at line 295 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [10/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		COMUTE_RNEA_SECOND_ORDER_DERIVATIVES
	)

Definition at line 270 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [11/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		FORWARD_KINEMATICS_DERIVATIVES
	)

Definition at line 203 of file timings-derivatives.cpp.

BENCHMARK_DEFINE_F() [12/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		FORWARD_KINEMATICS_Q_V_A
	)

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

BENCHMARK_DEFINE_F() [13/13]

BENCHMARK_DEFINE_F	(	DerivativesFixture	,
		RNEA
	)

Definition at line 223 of file timings-derivatives.cpp.

BENCHMARK_REGISTER_F() [1/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		ABA_LOCAL
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [2/11]

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

BENCHMARK_REGISTER_F() [3/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		COMPUTE_ABA_FD_DERIVATIVES
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [4/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		COMPUTE_CHOLESKY_M_INVERSE
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [5/11]

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

BENCHMARK_REGISTER_F() [6/11]

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

BENCHMARK_REGISTER_F() [7/11]

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

BENCHMARK_REGISTER_F() [8/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		COMPUTE_RNEA_FD_DERIVATIVES
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [9/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		FORWARD_KINEMATICS_DERIVATIVES
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [10/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		FORWARD_KINEMATICS_Q_V_A
	)		-> Apply(CustomArguments)

BENCHMARK_REGISTER_F() [11/11]

BENCHMARK_REGISTER_F	(	DerivativesFixture	,
		RNEA
	)		-> 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, const Eigen::MatrixXd &  daba_dq, const Eigen::MatrixXd &  daba_dv, const pinocchio::Data::RowMatrixXs &  daba_dtau  )

static

Definition at line 326 of file timings-derivatives.cpp.

computeABADerivativesNoQVTauCall()

static PINOCCHIO_DONT_INLINE void computeABADerivativesNoQVTauCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::MatrixXd &  daba_dq, const Eigen::MatrixXd &  daba_dv, const pinocchio::Data::RowMatrixXs &  daba_dtau  )

static

Definition at line 349 of file timings-derivatives.cpp.

computeABAFDDerivativesCall()

static PINOCCHIO_DONT_INLINE void computeABAFDDerivativesCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, Eigen::MatrixXd &  daba_dq, Eigen::MatrixXd &  daba_dv, pinocchio::Data::RowMatrixXs &  daba_dtau  )

static

Definition at line 371 of file timings-derivatives.cpp.

computeCholeskyMinverseCall()

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

static

Definition at line 427 of file timings-derivatives.cpp.

computeForwardKinematicsDerivativesCall()

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

static

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

computeMinverseCall()

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

static

Definition at line 411 of file timings-derivatives.cpp.

computeMinverseQCall()

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

static

Definition at line 394 of file timings-derivatives.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, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &  drnea_dq, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &  drnea_dv, const Eigen::MatrixXd &  drnea_da  )

static

Definition at line 234 of file timings-derivatives.cpp.

computeRNEAFDDerivativesCall()

static PINOCCHIO_DONT_INLINE void computeRNEAFDDerivativesCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  a, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &  drnea_dq, const PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(Eigen::MatrixXd) &  drnea_dv, const Eigen::MatrixXd &  drnea_da  )

static

Definition at line 283 of file timings-derivatives.cpp.

computeRNEASecondOrderDerivativesCall()

static PINOCCHIO_DONT_INLINE void computeRNEASecondOrderDerivativesCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  a, const Tensor3x &  dtau2_dq, const Tensor3x &  dtau2_dv, const Tensor3x &  dtau2_dqv, const Tensor3x &  dtau_dadq  )

static

Definition at line 257 of file timings-derivatives.cpp.

CustomArguments()

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

static

Definition at line 167 of file timings-derivatives.cpp.

forwardKinematicsQVACall()

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

static

Definition at line 174 of file timings-derivatives.cpp.

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP()

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP

(

DerivativesFixture::GlobalSetUp

)

rnea_fd()

template<typename Matrix1 , typename Matrix2 , typename Matrix3 >

void rnea_fd	(	const pinocchio::Model &	model,
		pinocchio::Data &	data_fd,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	a,
		const Eigen::MatrixBase< Matrix1 > &	_drnea_dq,
		const Eigen::MatrixBase< Matrix2 > &	_drnea_dv,
		const Eigen::MatrixBase< Matrix3 > &	_drnea_da
	)

Definition at line 26 of file timings-derivatives.cpp.

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 214 of file timings-derivatives.cpp.