#include "model-fixture.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/impulse-dynamics.hpp"
#include "pinocchio/algorithm/impulse-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-impulse-dynamics-derivatives.cpp:

Classes
struct	ContactFixture

Functions
	BENCHMARK_DEFINE_F (ContactFixture, IMPULSE_DYNAMICS_DERIVATIVES_6D)(benchmark

	BENCHMARK_DEFINE_F (ContactFixture, IMPULSE_DYNAMICS_DERIVATIVES_6D6D)(benchmark

	BENCHMARK_DEFINE_F (ContactFixture, IMPULSE_DYNAMICS_DERIVATIVES_EMPTY)(benchmark

	BENCHMARK_REGISTER_F (ContactFixture, IMPULSE_DYNAMICS_DERIVATIVES_6D) -> Apply(CustomArguments)

	BENCHMARK_REGISTER_F (ContactFixture, IMPULSE_DYNAMICS_DERIVATIVES_6D6D) -> Apply(CustomArguments)

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

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

static PINOCCHIO_DONT_INLINE void	impulseDynamicsDerivativesCall (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, double r_coeff, const pinocchio::ProximalSettings &prox_settings)

	PINOCCHIO_BENCHMARK_MAIN ()

Function Documentation

◆ BENCHMARK_DEFINE_F() [1/3]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		IMPULSE_DYNAMICS_DERIVATIVES_6D
	)

Definition at line 117 of file timings-impulse-dynamics-derivatives.cpp.

◆ BENCHMARK_DEFINE_F() [2/3]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		IMPULSE_DYNAMICS_DERIVATIVES_6D6D
	)

Definition at line 132 of file timings-impulse-dynamics-derivatives.cpp.

◆ BENCHMARK_DEFINE_F() [3/3]

BENCHMARK_DEFINE_F	(	ContactFixture	,
		IMPULSE_DYNAMICS_DERIVATIVES_EMPTY
	)

Definition at line 102 of file timings-impulse-dynamics-derivatives.cpp.

◆ BENCHMARK_REGISTER_F() [1/3]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		IMPULSE_DYNAMICS_DERIVATIVES_6D
	)		-> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [2/3]

BENCHMARK_REGISTER_F	(	ContactFixture	,
		IMPULSE_DYNAMICS_DERIVATIVES_6D6D
	)		-> Apply(CustomArguments)

◆ BENCHMARK_REGISTER_F() [3/3]

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

◆ CustomArguments()

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

static

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

◆ impulseDynamicsDerivativesCall()

static PINOCCHIO_DONT_INLINE void impulseDynamicsDerivativesCall	(	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,
		double	r_coeff,
		const pinocchio::ProximalSettings &	prox_settings
	)

static

Definition at line 91 of file timings-impulse-dynamics-derivatives.cpp.

◆ PINOCCHIO_BENCHMARK_MAIN()

PINOCCHIO_BENCHMARK_MAIN ( )

Classes

Functions