add hyq, atlas & lwr models

.gitmodules

@@ -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

libs/CMakeLists.txt

@@ -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"
   )

hyq-description @ 43cc075a

+Subproject commit 43cc075a628a41a30779cfde22f249aef3ae2d67

ihmc_atlas_ros @ f44d698b

+Subproject commit f44d698be7ee52c177432dd0bbb7314a1dd3c9d6

lwr-robot-description @ b30088b0

+Subproject commit b30088b075a500e0bffabdcb40f7abcc39724adc

sensors-description @ 82344a31

+Subproject commit 82344a319c2f5b3ee1cbf9c8558bf02695a58016

src/models.h.in

@@ -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"
     };
 }
 

src/pinocchio-benchmark.cpp

@@ -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();

src/rbdl-benchmark.cpp

@@ -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();