Merge pull request #1430 from jcarpent/topic/ci

Extend CI coverage with OpenMP

.github/workflows/macos-conda.yml → .github/workflows/macos-linux-conda.yml

-name: Build Pinocchio for Mac OS X via Conda
+name: Build Pinocchio for Mac OS X/Linux via Conda
 
 on: [push,pull_request]
 
 jobs:
-  pinocchio-osx-conda:
-    runs-on: macos-latest
+  pinocchio-conda:
+    name: Pinocchio on ${{ matrix.os }} with Conda
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
 
     steps:
     - uses: actions/checkout@v2
@@ -25,6 +31,7 @@ jobs:
       run: |
         conda activate pinocchio
         conda install cmake -c main
+        conda install llvm-openmp -c conda-forge
     
     - name: Build Pinocchio
       shell: bash -l {0}
@@ -35,7 +42,7 @@ jobs:
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=OFF
+        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON
         make
         make build_tests
         export CTEST_OUTPUT_ON_FAILURE=1

examples/CMakeLists.txt

@@ -91,6 +91,12 @@ IF(BUILD_PYTHON_INTERFACE)
         )
     ENDIF(BUILD_WITH_URDF_SUPPORT)
   ENDIF(hpp-fcl_FOUND)
+  
+  IF(BUILD_WITH_OPENMP_SUPPORT)
+    LIST(APPEND ${PROJECT_NAME}_PYTHON_EXAMPLES 
+      run-algo-in-parallel
+      )
+  ENDIF(BUILD_WITH_OPENMP_SUPPORT)
 
   FOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
     ADD_PYTHON_UNIT_TEST("example-py-${EXAMPLE}" "examples/${EXAMPLE}.py" "bindings/python")

examples/run-algo-in-parallel.py

+import pinocchio as pin
+import numpy as np
+
+model = pin.buildSampleModelHumanoid()
+model.lowerPositionLimit[:7] = -np.ones(7)
+model.upperPositionLimit[:7] = +np.ones(7)
+
+pool = pin.ModelPool(model)
+
+num_threads = pin.omp_get_max_threads()
+batch_size = 128
+q = np.empty((model.nq,batch_size))
+for k in range(batch_size):
+    q[:,k] = pin.randomConfiguration(model)
+
+v = np.zeros((model.nv,batch_size))
+a = np.zeros((model.nv,batch_size))
+tau = np.zeros((model.nv,batch_size))
+
+print("num_threads: {}".format(num_threads))
+print("batch_size: {}".format(batch_size))
+
+# Call RNEA
+res_rnea = np.empty((model.nv,batch_size))
+pin.rnea(num_threads,pool,q,v,a,res_rnea) # Without allocation
+res_rnea2 = pin.rnea(num_threads,pool,q,v,a) # With allocation
+
+# Call ABA
+res_aba = np.empty((model.nv,batch_size))
+pin.aba(num_threads,pool,q,v,tau,res_aba) # Without allocation
+res_aba2 = pin.aba(num_threads,pool,q,v,tau) # With allocation