bench: measure timing in micro seconds + divide by number of tests

src/benchmarks-pinocchio.cpp

@@ -35,7 +35,7 @@ void benchmark_pinocchio_rnea(std::string model, std::string log_filename)
   for (size_t i=0; i<NBT; i++)
   {
     qs[i] = Eigen::VectorXd::Random(robot.nq);
-    if (robot.nq > robot.nv) qs[i].segment(0, 4).normalize();
+    if (robot.nq > robot.nv) qs[i].segment<4>(3).normalize();
     qdots[i] = Eigen::VectorXd::Random(robot.nv);
     qddots[i] = Eigen::VectorXd::Random(robot.nv);
   }
@@ -49,7 +49,7 @@ void benchmark_pinocchio_rnea(std::string model, std::string log_filename)
   }
   end = std::chrono::high_resolution_clock::now();
   std::chrono::nanoseconds time = end - start;
-  file << time.count() << std::endl;
+  file << 1e-3 * (time.count() / (double)NBT) << std::endl;
   file.close();
 }
 
@@ -75,21 +75,21 @@ void benchmark_pinocchio_aba(std::string model, std::string log_filename)
   for(size_t i=0; i<NBT; i++)
   {
     qs[i] = Eigen::VectorXd::Random(robot.nq);
-    if (robot.nq > robot.nv) qs[i].segment(0, 4).normalize();
+    if (robot.nq > robot.nv) qs[i].segment<4>(3).normalize();
     qdots[i] = Eigen::VectorXd::Random(robot.nv);
     taus[i] = Eigen::VectorXd::Random(robot.nv);
   }
 
   std::chrono::time_point<std::chrono::high_resolution_clock> start, end;
   std::ofstream file(log_filename);
-    start = std::chrono::high_resolution_clock::now();
+  start = std::chrono::high_resolution_clock::now();
   for(size_t i=0; i<NBT; i++)
   {
     pinocchio::aba(robot, data, qs[i], qdots[i], taus[i]);
   }
-    end = std::chrono::high_resolution_clock::now();
-    std::chrono::nanoseconds time = end - start;
-    file << time.count() << std::endl;
+  end = std::chrono::high_resolution_clock::now();
+  std::chrono::nanoseconds time = end - start;
+  file << 1e-3 * (time.count() / (double)NBT) << std::endl;
   file.close();
 }
 
@@ -113,7 +113,7 @@ void benchmark_pinocchio_crba(std::string model, std::string log_filename)
   for(size_t i=0; i<NBT; i++)
   {
     qs[i] = Eigen::VectorXd::Random(robot.nq);
-    if (robot.nq > robot.nv) qs[i].segment(0, 4).normalize();
+    if (robot.nq > robot.nv) qs[i].segment<4>(3).normalize();
   }
 
   std::chrono::time_point<std::chrono::high_resolution_clock> start, end;
@@ -124,8 +124,8 @@ void benchmark_pinocchio_crba(std::string model, std::string log_filename)
     pinocchio::crba(robot, data, qs[i]);
   }
   end = std::chrono::high_resolution_clock::now();
-  std::chrono::nanoseconds time = end - start;
-  file << time.count() << std::endl;
+  std::chrono::duration<double,std::nano> time = end - start;
+  file << 1e-3 * (time.count() / (double)NBT) << std::endl;
   file.close();
 }
 
@@ -136,9 +136,9 @@ int main()
     benchmark_pinocchio_rnea(model, pinocchio_benchmarks::get_log_filename(
           "Pinocchio", "ID", model));
     benchmark_pinocchio_aba(model, pinocchio_benchmarks::get_log_filename(
-          "Pinocchio", "HD", model));
-    benchmark_pinocchio_crba(model, pinocchio_benchmarks::get_log_filename(
           "Pinocchio", "FD", model));
+    benchmark_pinocchio_crba(model, pinocchio_benchmarks::get_log_filename(
+          "Pinocchio", "CRBA", model));
   }
 
   return 0;

src/benchmarks-rbdl.cpp

@@ -40,7 +40,7 @@ void benchmark_rbdl_rnea(std::string model, std::string log_filename)
   }
   end = std::chrono::high_resolution_clock::now();
   std::chrono::nanoseconds time = end - start;
-  file << time.count() << std::endl;
+  file << 1e-3*time.count() / (double)NBT << std::endl;
   file.close();
 }
 
@@ -65,14 +65,14 @@ void benchmark_rbdl_crba(std::string model, std::string log_filename)
 
   std::chrono::time_point<std::chrono::high_resolution_clock> start, end;
   std::ofstream file(log_filename);
-    start = std::chrono::high_resolution_clock::now();
+  start = std::chrono::high_resolution_clock::now();
   for(size_t i=0; i<NBT; i++)
   {
     RigidBodyDynamics::CompositeRigidBodyAlgorithm(robot, qs[i], h);
   }
-    end = std::chrono::high_resolution_clock::now();
-    std::chrono::nanoseconds time = end - start;
-    file << time.count() << std::endl;
+  end = std::chrono::high_resolution_clock::now();
+  std::chrono::nanoseconds time = end - start;
+  file << 1e-3*time.count() / (double)NBT << std::endl;
   file.close();
 }
 
@@ -106,7 +106,7 @@ void benchmark_rbdl_aba(std::string model, std::string log_filename)
   }
   end = std::chrono::high_resolution_clock::now();
   std::chrono::nanoseconds time = end - start;
-  file << time.count() << std::endl;
+  file << 1e-3*time.count() / (double)NBT << std::endl;
   file.close();
 }
 
@@ -117,9 +117,9 @@ int main()
     benchmark_rbdl_rnea(model, pinocchio_benchmarks::get_log_filename(
           "RBDL", "ID", model));
     benchmark_rbdl_crba(model, pinocchio_benchmarks::get_log_filename(
-          "RBDL", "FD", model));
+          "RBDL", "CRBA", model));
     benchmark_rbdl_aba(model, pinocchio_benchmarks::get_log_filename(
-          "RBDL", "HD", model));
+          "RBDL", "FD", model));
   }
 
   return 0;