From b62ca5d338ab208257cf87d90773edd5fd81ae09 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Fri, 12 Sep 2014 13:15:55 +0200
Subject: [PATCH] IVIGIT: added unittest/timings.
---
CMakeLists.txt | 4 +++
unittest/timings.cpp | 72 ++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 76 insertions(+)
create mode 100644 unittest/timings.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39f7a5c03..d6e5ff92f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,6 +104,10 @@ ADD_EXECUTABLE(crba EXCLUDE_FROM_ALL unittest/crba.cpp)
PKG_CONFIG_USE_DEPENDENCY(crba eigenpy)
PKG_CONFIG_USE_DEPENDENCY(crba urdfdom)
+ADD_EXECUTABLE(timings EXCLUDE_FROM_ALL unittest/timings.cpp)
+PKG_CONFIG_USE_DEPENDENCY(timings eigenpy)
+PKG_CONFIG_USE_DEPENDENCY(timings urdfdom)
+
ADD_EXECUTABLE(jacobian EXCLUDE_FROM_ALL unittest/jacobian.cpp)
PKG_CONFIG_USE_DEPENDENCY(jacobian eigenpy)
diff --git a/unittest/timings.cpp b/unittest/timings.cpp
new file mode 100644
index 000000000..a4a3291f3
--- /dev/null
+++ b/unittest/timings.cpp
@@ -0,0 +1,72 @@
+#include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/spatial/se3.hpp"
+#include "pinocchio/multibody/joint.hpp"
+#include "pinocchio/multibody/visitor.hpp"
+#include "pinocchio/multibody/model.hpp"
+#include "pinocchio/algorithm/crba.hpp"
+#include "pinocchio/algorithm/rnea.hpp"
+#include "pinocchio/algorithm/cholesky.hpp"
+#include "pinocchio/algorithm/jacobian.hpp"
+#include "pinocchio/multibody/parser/urdf.hpp"
+#include "pinocchio/multibody/parser/sample-models.hpp"
+
+#include <iostream>
+
+#include "pinocchio/tools/timer.hpp"
+
+
+int main(int argc, const char ** argv)
+{
+ using namespace Eigen;
+ using namespace se3;
+
+ StackTicToc timer(StackTicToc::US);
+ const int NBT = 1000*100;
+ se3::Model model;
+
+ std::string filename = "../models/simple_humanoid.urdf";
+ if(argc>1) filename = argv[1];
+ if( filename == "HS")
+ se3::buildModels::humanoidSimple(model,true);
+ else if( filename == "H2" )
+ se3::buildModels::humanoid2d(model);
+ else
+ model = se3::buildModel(filename,true);
+ std::cout << "nq = " << model.nq << std::endl;
+
+ se3::Data data(model);
+ VectorXd q = VectorXd::Random(model.nq);
+ VectorXd qdot = VectorXd::Random(model.nv);
+ VectorXd qddot = VectorXd::Random(model.nv);
+
+ timer.tic();
+ SMOOTH(NBT)
+ {
+ rnea(model,data,q,qdot,qddot);
+ }
+ std::cout << "RNEA = \t\t"; timer.toc(std::cout,NBT);
+
+ timer.tic();
+ SMOOTH(NBT)
+ {
+ crba(model,data,q);
+ }
+ std::cout << "CRBA = \t\t"; timer.toc(std::cout,NBT);
+
+ timer.tic();
+ SMOOTH(NBT)
+ {
+ cholesky::decompose(model,data);
+ }
+ std::cout << "Cholesky = \t"; timer.toc(std::cout,NBT);
+
+ timer.tic();
+ SMOOTH(NBT)
+ {
+ computeJacobian(model,data,q);
+ }
+ std::cout << "Jacobian = \t"; timer.toc(std::cout,NBT);
+
+ std::cout << "--" << std::endl;
+ return 0;
+}
--
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