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Commit bfebb78e authored by Guilhem Saurel's avatar Guilhem Saurel
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add hyq, atlas & lwr models

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1 merge request!3Update the repository to the version used for the first submission of the article
......@@ -27,3 +27,15 @@
[submodule "eigen"]
path = libs/eigen
url = ../../eigenteam/eigen-git-mirror
[submodule "hyq"]
path = libs/hyq-description
url = ../../iit-DLSLab/hyq-description.git
[submodule "lwr"]
path = libs/lwr-robot-description
url = ../../corlab/lwr-robot-description.git
[submodule "atlas"]
path = libs/ihmc_atlas_ros
url = ../../ihmcrobotics/ihmc_atlas_ros.git
[submodule "sensors-description"]
path = libs/sensors-description
url = ../../iit-DLSLab/sensors-description
......@@ -3,5 +3,8 @@ INSTALL(FILES
"pinocchio/models/romeo/romeo_description/urdf/romeo_small.urdf"
"nao_description/urdf/nao_robot_v4.urdf"
"poppy-humanoid/hardware/URDF/robots/Poppy_Humanoid.URDF"
"lwr-robot-description/lwr-robot2.urdf"
"ihmc_atlas_ros/urdf/atlas_unplugged_v5_no_hands.urdf"
"hyq.urdf"
DESTINATION "share/pinocchio-benchmarks/models"
)
Subproject commit 43cc075a628a41a30779cfde22f249aef3ae2d67
This diff is collapsed.
Subproject commit f44d698be7ee52c177432dd0bbb7314a1dd3c9d6
Subproject commit b30088b075a500e0bffabdcb40f7abcc39724adc
Subproject commit 82344a319c2f5b3ee1cbf9c8558bf02695a58016
......@@ -7,12 +7,15 @@ namespace pinocchio_benchmarks
{
static const std::string path = "@CMAKE_INSTALL_PREFIX@/share/pinocchio-benchmarks/models/";
static const boost::array<std::string, 4> models =
static const boost::array<std::string, 7> models =
{
"simple_humanoid.urdf",
"romeo_small.urdf",
"nao_robot_v4.urdf",
"Poppy_Humanoid.URDF"
"Poppy_Humanoid.URDF",
"lwr-robot2.urdf",
"atlas_unplugged_v5_no_hands.urdf",
"hyq.urdf"
};
}
......
......@@ -62,7 +62,7 @@ static void BM_Pinocchio_ABA(benchmark::State& state)
}
}
BENCHMARK(BM_Pinocchio_RNEA)->Arg(0)->Arg(1)->Arg(2)->Arg(3);
BENCHMARK(BM_Pinocchio_ABA)->Arg(0)->Arg(1)->Arg(2)->Arg(3);
BENCHMARK(BM_Pinocchio_RNEA)->Arg(0)->Arg(1)->Arg(2)->Arg(3)->Arg(4)->Arg(5)->Arg(6);
BENCHMARK(BM_Pinocchio_ABA)->Arg(0)->Arg(1)->Arg(2)->Arg(3)->Arg(4)->Arg(5)->Arg(6);
BENCHMARK_MAIN();
......@@ -71,7 +71,7 @@ static void BM_RBDL_ABA(benchmark::State& state)
}
BENCHMARK(BM_RBDL_RNEA)->Arg(0)->Arg(1)->Arg(2)->Arg(3);
BENCHMARK(BM_RBDL_ABA)->Arg(0)->Arg(1)->Arg(2)->Arg(3);
BENCHMARK(BM_RBDL_RNEA)->Arg(0)->Arg(1)->Arg(2)->Arg(3)->Arg(4)->Arg(5)->Arg(6);
BENCHMARK(BM_RBDL_ABA)->Arg(0)->Arg(1)->Arg(2)->Arg(3)->Arg(4)->Arg(5)->Arg(6);
BENCHMARK_MAIN();
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