Commit dc1dd442 authored by jcarpent's avatar jcarpent
Browse files

[Bench] Add timings of computeCoriolisMatrix

parent 937111f9
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2018 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
......@@ -195,6 +195,13 @@ int main(int argc, const char ** argv)
emptyForwardPass(model,data);
}
std::cout << "Empty Forward Pass = \t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
computeCoriolisMatrix(model,data,qs[_smooth],qdots[_smooth]);
}
std::cout << "Coriolis Matrix = \t"; timer.toc(std::cout,NBT);
std::cout << "--" << std::endl;
return 0;
......
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