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timings-cg.cpp
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timings-cg.cpp
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//
// Copyright (c) 2018 CNRS
//
#include "pinocchio/codegen/cppadcg.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/parsers/sample-models.hpp"
#include "pinocchio/container/aligned-vector.hpp"
#include "pinocchio/codegen/code-generator-algo.hpp"
#include <iostream>
#include "pinocchio/utils/timer.hpp"
int main(int argc, const char ** argv)
{
using namespace Eigen;
using namespace pinocchio;
PinocchioTicToc timer(PinocchioTicToc::US);
#ifdef NDEBUG
const int NBT = 1000*100;
#else
const int NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " << std::endl;
#endif
pinocchio::Model model;
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
if(argc>1) filename = argv[1];
bool with_ff = true;
if(argc>2)
{
const std::string ff_option = argv[2];
if(ff_option == "-no-ff")
with_ff = false;
}
if( filename == "H")
pinocchio::buildModels::humanoidRandom(model,true);
else
if(with_ff)
pinocchio::urdf::buildModel(filename,JointModelFreeFlyer(),model);
else
pinocchio::urdf::buildModel(filename,model);
std::cout << "nq = " << model.nq << std::endl;
std::cout << "nv = " << model.nv << std::endl;
std::cout << "--" << std::endl;
pinocchio::Data data(model);
VectorXd qmax = Eigen::VectorXd::Ones(model.nq);
CodeGenRNEA<double> rnea_code_gen(model);
rnea_code_gen.initLib();
rnea_code_gen.loadLib();
CodeGenABA<double> aba_code_gen(model);
aba_code_gen.initLib();
aba_code_gen.loadLib();
CodeGenCRBA<double> crba_code_gen(model);
crba_code_gen.initLib();
crba_code_gen.loadLib();
CodeGenMinv<double> minv_code_gen(model);
minv_code_gen.initLib();
minv_code_gen.loadLib();
CodeGenRNEADerivatives<double> rnea_derivatives_code_gen(model);
rnea_derivatives_code_gen.initLib();
rnea_derivatives_code_gen.loadLib();
CodeGenABADerivatives<double> aba_derivatives_code_gen(model);
aba_derivatives_code_gen.initLib();
aba_derivatives_code_gen.loadLib();
pinocchio::container::aligned_vector<VectorXd> qs (NBT);
pinocchio::container::aligned_vector<VectorXd> qdots (NBT);
pinocchio::container::aligned_vector<VectorXd> qddots (NBT);
pinocchio::container::aligned_vector<VectorXd> taus (NBT);
for(size_t i=0;i<NBT;++i)
{
qs[i] = randomConfiguration(model,-qmax,qmax);
qdots[i] = Eigen::VectorXd::Random(model.nv);
qddots[i] = Eigen::VectorXd::Random(model.nv);
taus[i] = Eigen::VectorXd::Random(model.nv);
}
timer.tic();
SMOOTH(NBT)
{
rnea(model,data,qs[_smooth],qdots[_smooth],qddots[_smooth]);
}
std::cout << "RNEA = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
rnea_code_gen.evalFunction(qs[_smooth],qdots[_smooth],qddots[_smooth]);
}
std::cout << "RNEA generated = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
rnea_code_gen.evalJacobian(qs[_smooth],qdots[_smooth],qddots[_smooth]);
}
std::cout << "RNEA partial derivatives auto diff + code gen = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
rnea_derivatives_code_gen.evalFunction(qs[_smooth],qdots[_smooth],qddots[_smooth]);
}
std::cout << "RNEA partial derivatives code gen = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
aba(model,data,qs[_smooth],qdots[_smooth],taus[_smooth]);
}
timer.toc();
timer.tic();
SMOOTH(NBT)
{
crba(model,data,qs[_smooth]);
}
std::cout << "CRBA = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
crba_code_gen.evalFunction(qs[_smooth]);
}
std::cout << "CRBA generated = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
computeMinverse(model,data,qs[_smooth]);
}
std::cout << "Minv = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
minv_code_gen.evalFunction(qs[_smooth]);
}
std::cout << "Minv generated = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
aba(model,data,qs[_smooth],qdots[_smooth],taus[_smooth]);
}
std::cout << "ABA = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
aba_code_gen.evalFunction(qs[_smooth],qdots[_smooth],taus[_smooth]);
}
std::cout << "ABA generated = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
aba_code_gen.evalJacobian(qs[_smooth],qdots[_smooth],taus[_smooth]);
}
std::cout << "ABA partial derivatives auto diff + code gen = \t\t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
aba_derivatives_code_gen.evalFunction(qs[_smooth],qdots[_smooth],qddots[_smooth]);
}
std::cout << "ABA partial derivatives code gen = \t\t"; timer.toc(std::cout,NBT);
return 0;
}