Commit 6731f05a authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[benchmark][frames kinematics] add timings for frame kinematics

parent f4a92f39
......@@ -6,6 +6,7 @@
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/aba.hpp"
......@@ -332,6 +333,22 @@ int main(int argc, const char ** argv)
forwardKinematics(model,data,qs[_smooth],qdots[_smooth], qddots[_smooth]);
}
std::cout << "Second Order Kinematics = \t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
forwardKinematics(model,data,qs[_smooth]);
updateFramePlacements(model, data);
}
std::cout << "Zero Order Kinematics + Update Frame Placement = \t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
framesForwardKinematics(model,data, qs[_smooth]);
}
std::cout << "Zero Order Frames Kinematics = \t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
......
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