timings-parallel.cpp File Reference

#include "model-fixture.hpp"
#include "pinocchio/algorithm/parallel/rnea.hpp"
#include "pinocchio/algorithm/parallel/aba.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/parsers/srdf.hpp"
#include <benchmark/benchmark.h>
#include <iostream>

Include dependency graph for timings-parallel.cpp:

Go to the source code of this file.

Classes
struct	ParallelFixture

Typedefs
typedef Eigen::Matrix< bool, Eigen::Dynamic, 1 >	VectorXb

Functions
static PINOCCHIO_DONT_INLINE void	abaCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixXd::ColXpr &q, const Eigen::MatrixXd::ColXpr &v, const Eigen::MatrixXd::ColXpr &taus, const Eigen::MatrixXd::ColXpr &r)
static PINOCCHIO_DONT_INLINE void	abaInParallelCall (size_t num_threads, pinocchio::ModelPool &pool, const Eigen::MatrixXd &qs, const Eigen::MatrixXd &vs, const Eigen::MatrixXd &taus, const Eigen::MatrixXd &res)
	BENCHMARK_DEFINE_F (ParallelFixture, ABA)(benchmark
	BENCHMARK_DEFINE_F (ParallelFixture, ABA_IN_PARALLEL)(benchmark
	BENCHMARK_DEFINE_F (ParallelFixture, RNEA)(benchmark
	BENCHMARK_DEFINE_F (ParallelFixture, RNEA_IN_PARALLEL)(benchmark
	BENCHMARK_REGISTER_F (ParallelFixture, ABA) -> Apply(MonoThreadCustomArguments)
	BENCHMARK_REGISTER_F (ParallelFixture, ABA_IN_PARALLEL) -> Apply(MultiThreadCustomArguments)
	BENCHMARK_REGISTER_F (ParallelFixture, RNEA) -> Apply(MonoThreadCustomArguments)
	BENCHMARK_REGISTER_F (ParallelFixture, RNEA_IN_PARALLEL) -> Apply(MultiThreadCustomArguments)
static void	MonoThreadCustomArguments (benchmark::internal::Benchmark *b)
static void	MultiThreadCustomArguments (benchmark::internal::Benchmark *b)
	PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP (ParallelFixture::GlobalSetUp)
static PINOCCHIO_DONT_INLINE void	rneaCall (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixXd::ColXpr &q, const Eigen::MatrixXd::ColXpr &v, const Eigen::MatrixXd::ColXpr &a, const Eigen::MatrixXd::ColXpr &r)
static PINOCCHIO_DONT_INLINE void	rneaInParallelCall (size_t num_threads, pinocchio::ModelPool &pool, const Eigen::MatrixXd &qs, const Eigen::MatrixXd &vs, const Eigen::MatrixXd &as, const Eigen::MatrixXd &res)

Typedef Documentation

VectorXb

typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> VectorXb

Definition at line 36 of file timings-parallel.cpp.

Function Documentation

abaCall()

static PINOCCHIO_DONT_INLINE void abaCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::MatrixXd::ColXpr &  q, const Eigen::MatrixXd::ColXpr &  v, const Eigen::MatrixXd::ColXpr &  taus, const Eigen::MatrixXd::ColXpr &  r  )

static

Definition at line 163 of file timings-parallel.cpp.

abaInParallelCall()

static PINOCCHIO_DONT_INLINE void abaInParallelCall ( size_t  num_threads, pinocchio::ModelPool &  pool, const Eigen::MatrixXd &  qs, const Eigen::MatrixXd &  vs, const Eigen::MatrixXd &  taus, const Eigen::MatrixXd &  res  )

static

Definition at line 189 of file timings-parallel.cpp.

BENCHMARK_DEFINE_F() [1/4]

BENCHMARK_DEFINE_F	(	ParallelFixture	,
		ABA
	)

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

BENCHMARK_DEFINE_F() [2/4]

BENCHMARK_DEFINE_F	(	ParallelFixture	,
		ABA_IN_PARALLEL
	)

Definition at line 199 of file timings-parallel.cpp.

BENCHMARK_DEFINE_F() [3/4]

BENCHMARK_DEFINE_F	(	ParallelFixture	,
		RNEA
	)

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

BENCHMARK_DEFINE_F() [4/4]

BENCHMARK_DEFINE_F	(	ParallelFixture	,
		RNEA_IN_PARALLEL
	)

Definition at line 151 of file timings-parallel.cpp.

BENCHMARK_REGISTER_F() [1/4]

BENCHMARK_REGISTER_F	(	ParallelFixture	,
		ABA
	)		-> Apply(MonoThreadCustomArguments)

BENCHMARK_REGISTER_F() [2/4]

BENCHMARK_REGISTER_F	(	ParallelFixture	,
		ABA_IN_PARALLEL
	)		-> Apply(MultiThreadCustomArguments)

BENCHMARK_REGISTER_F() [3/4]

BENCHMARK_REGISTER_F	(	ParallelFixture	,
		RNEA
	)		-> Apply(MonoThreadCustomArguments)

BENCHMARK_REGISTER_F() [4/4]

BENCHMARK_REGISTER_F	(	ParallelFixture	,
		RNEA_IN_PARALLEL
	)		-> Apply(MultiThreadCustomArguments)

MonoThreadCustomArguments()

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

static

Definition at line 101 of file timings-parallel.cpp.

MultiThreadCustomArguments()

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

static

Definition at line 106 of file timings-parallel.cpp.

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP()

PINOCCHIO_BENCHMARK_MAIN_WITH_SETUP

(

ParallelFixture::GlobalSetUp

)

rneaCall()

static PINOCCHIO_DONT_INLINE void rneaCall ( const pinocchio::Model &  model, pinocchio::Data &  data, const Eigen::MatrixXd::ColXpr &  q, const Eigen::MatrixXd::ColXpr &  v, const Eigen::MatrixXd::ColXpr &  a, const Eigen::MatrixXd::ColXpr &  r  )

static

Definition at line 116 of file timings-parallel.cpp.

rneaInParallelCall()

static PINOCCHIO_DONT_INLINE void rneaInParallelCall ( size_t  num_threads, pinocchio::ModelPool &  pool, const Eigen::MatrixXd &  qs, const Eigen::MatrixXd &  vs, const Eigen::MatrixXd &  as, const Eigen::MatrixXd &  res  )

static

Definition at line 141 of file timings-parallel.cpp.