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rbdlsim/3rdparty/rbdl/addons/benchmark/benchmark.cc

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#include <iostream>
#include <algorithm>
#include <string>
#include <vector>
#include <cstdlib>
#include <iomanip>
#include <sstream>
#include <fstream>
#include "rbdl/rbdl.h"
#include "model_generator.h"
#include "Human36Model.h"
#include "SampleData.h"
#include "Timer.h"
#ifdef RBDL_BUILD_ADDON_LUAMODEL
#include "../addons/luamodel/luamodel.h"
bool have_luamodel = true;
#else
bool have_luamodel = false;
#endif
#ifdef RBDL_BUILD_ADDON_URDFREADER
#include "../addons/urdfreader/urdfreader.h"
bool have_urdfreader = true;
bool urdf_floating_base = false;
#else
bool have_urdfreader = false;
#endif
using namespace std;
using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics::Math;
int benchmark_sample_count = 1000;
int benchmark_model_max_depth = 5;
bool benchmark_run_fd_aba = true;
bool benchmark_run_fd_lagrangian = true;
bool benchmark_run_id_rnea = true;
bool benchmark_run_crba = true;
bool benchmark_run_nle = true;
bool benchmark_run_calc_minv_times_tau = true;
bool benchmark_run_contacts = false;
bool benchmark_run_ik = false;
bool json_output = false;
string model_name;
enum ContactsMethod {
ConstraintsMethodDirect = 0,
ConstraintsMethodRangeSpaceSparse,
ConstraintsMethodNullSpace,
ConstraintsMethodKokkevis
};
struct BenchmarkRun {
string model_name;
int model_dof;
string benchmark;
int sample_count;
double duration;
double avg;
double min;
double max;
};
vector<BenchmarkRun> benchmark_runs;
void report_section (const char* section_name) {
if (!json_output) {
cout << "= " << section_name << " =" << endl;
}
}
void register_run(const Model &model, const SampleData &data, const char *run_name) {
BenchmarkRun run;
run.benchmark = run_name;
run.model_name = model_name;
run.model_dof = model.dof_count;
run.sample_count = data.count;
run.duration = data.durations.sum();
run.avg = data.durations.mean();
run.min = data.durations.minCoeff();
run.max = data.durations.maxCoeff();
benchmark_runs.push_back(run);
}
void report_run(const Model &model, const SampleData &data,
const char *run_name) {
register_run(model, data, run_name);
if (!json_output) {
cout << "#DOF: " << setw(3) << model.dof_count
<< " #samples: " << data.count
<< " duration = " << setw(10) << data.durations.sum() << "(s)"
<< " (~" << setw(10) << data.durations.mean() << "(s) per call)" << endl;
}
}
void report_constraints_run(const Model &model, const SampleData &data,
const char *run_name) {
register_run(model, data, run_name);
if (!json_output) {
cout << model_name << ": "
<< " duration = " << setw(10) << data.durations.sum() << "(s)"
<< " (~" << setw(10) << data.durations.mean() << "(s) per call)" << endl;
}
}
/** Parses /proc/cpuinfo for the CPU model name. */
string get_cpu_model_name () {
ifstream proc_cpu ("/proc/cpuinfo", ios_base::in);
if (!proc_cpu) {
cerr << "Cannot determine cpu model: could not open /proc/cpuinfo for reading." << endl;
abort();
}
ostringstream content;
content << proc_cpu.rdbuf();
proc_cpu.close();
string content_str = content.str();
std::size_t model_name_pos = content_str.find("model name");
if (model_name_pos != string::npos) {
std::size_t start = content_str.find(':', model_name_pos + strlen("model name")) + 2;
std::size_t end = content_str.find('\n', model_name_pos + strlen("model name"));
return content_str.substr(start, end - start);
}
return "unknown";
}
string get_utc_time_string () {
time_t current_time;
struct tm* timeinfo;
time(&current_time);
timeinfo = gmtime(&current_time);
char time_buf[80];
std::size_t UNUSED(time_len) = strftime(&time_buf[0], 80, "%a %b %d %T %Y", timeinfo);
assert(time_len <= 80 & "violating buffer size for utc time conversion");
return time_buf;
}
double run_forward_dynamics_ABA_benchmark (Model *model, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
ForwardDynamics (*model,
sample_data.q[i],
sample_data.qdot[i],
sample_data.tau[i],
sample_data.qddot[i]);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_run(*model, sample_data, "ForwardDynamics");
return sample_data.durations.sum();
}
double run_forward_dynamics_lagrangian_benchmark (Model *model, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
MatrixNd H (MatrixNd::Zero(model->dof_count, model->dof_count));
VectorNd C (VectorNd::Zero(model->dof_count));
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
ForwardDynamicsLagrangian (*model,
sample_data.q[i],
sample_data.qdot[i],
sample_data.tau[i],
sample_data.qddot[i],
Math::LinearSolverPartialPivLU,
NULL,
&H,
&C
);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_run(*model, sample_data, "ForwardDynamicsLagrangian_PivLU");
return sample_data.durations.sum();
}
double run_inverse_dynamics_RNEA_benchmark (Model *model, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
timer_start (&tinfo);
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
InverseDynamics (*model,
sample_data.q[i],
sample_data.qdot[i],
sample_data.qddot[i],
sample_data.tau[i]
);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_run(*model, sample_data, "InverseDynamics");
return sample_data.durations.sum();
}
double run_CRBA_benchmark (Model *model, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
Math::MatrixNd H = Math::MatrixNd::Zero(model->dof_count, model->dof_count);
Math::MatrixNd identity = Math::MatrixNd::Identity(model->dof_count, model->dof_count);
Math::MatrixNd Hinv = Math::MatrixNd::Zero(model->dof_count, model->dof_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
CompositeRigidBodyAlgorithm (*model, sample_data.q[i], H, true);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_run(*model, sample_data, "CompositeRigidBodyAlgorithm");
return sample_data.durations.sum();
}
double run_nle_benchmark (Model *model, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
NonlinearEffects (*model,
sample_data.q[i],
sample_data.qdot[i],
sample_data.tau[i]
);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_run(*model, sample_data, "NonlinearEffects");
return sample_data.durations.sum();
}
double run_calc_minv_times_tau_benchmark (Model *model, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
CalcMInvTimesTau (*model, sample_data.q[0], sample_data.tau[0], sample_data.qddot[0]);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
CalcMInvTimesTau (*model, sample_data.q[i], sample_data.tau[i], sample_data.qddot[i]);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_run(*model, sample_data, "NonlinearEffects");
return sample_data.durations.sum();
}
double run_contacts_lagrangian_benchmark (Model *model, ConstraintSet *constraint_set, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
ForwardDynamicsConstraintsDirect (*model, sample_data.q[i], sample_data.qdot[i], sample_data.tau[i], *constraint_set, sample_data.qddot[i]);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_constraints_run(*model, sample_data, "ForwardDynamicsConstraintsDirect");
return sample_data.durations.sum();
}
double run_contacts_lagrangian_sparse_benchmark (Model *model, ConstraintSet *constraint_set, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
ForwardDynamicsConstraintsRangeSpaceSparse (*model, sample_data.q[i], sample_data.qdot[i], sample_data.tau[i], *constraint_set, sample_data.qddot[i]);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_constraints_run(*model, sample_data, "ForwardDynamicsConstraintsRangeSpaceSparse");
return sample_data.durations.sum();
}
double run_contacts_null_space (Model *model, ConstraintSet *constraint_set, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
ForwardDynamicsConstraintsNullSpace (*model, sample_data.q[i], sample_data.qdot[i], sample_data.tau[i], *constraint_set, sample_data.qddot[i]);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_constraints_run(*model, sample_data, "ForwardDynamicsConstraintsNullSpace");
return sample_data.durations.sum();
}
double run_contacts_kokkevis_benchmark (Model *model, ConstraintSet *constraint_set, int sample_count) {
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
TimerInfo tinfo;
for (int i = 0; i < sample_count; i++) {
timer_start (&tinfo);
ForwardDynamicsContactsKokkevis(*model, sample_data.q[i], sample_data.qdot[i], sample_data.tau[i], *constraint_set, sample_data.qddot[i]);
sample_data.durations[i] = timer_stop (&tinfo);
}
report_constraints_run(*model, sample_data, "ForwardDynamicsContactsKokkevis");
return sample_data.durations.sum();
}
void contacts_benchmark (int sample_count, ContactsMethod contacts_method) {
// initialize the human model
Model *model = new Model();
generate_human36model(model);
// initialize the constraint sets
unsigned int foot_r = model->GetBodyId ("foot_r");
unsigned int foot_l = model->GetBodyId ("foot_l");
unsigned int hand_r = model->GetBodyId ("hand_r");
unsigned int hand_l = model->GetBodyId ("hand_l");
ConstraintSet one_body_one_constraint;
ConstraintSet two_bodies_one_constraint;
ConstraintSet four_bodies_one_constraint;
ConstraintSet one_body_four_constraints;
ConstraintSet two_bodies_four_constraints;
ConstraintSet four_bodies_four_constraints;
LinearSolver linear_solver = LinearSolverPartialPivLU;
one_body_one_constraint.linear_solver = linear_solver;
two_bodies_one_constraint.linear_solver = linear_solver;
four_bodies_one_constraint.linear_solver = linear_solver;
one_body_four_constraints.linear_solver = linear_solver;
two_bodies_four_constraints.linear_solver = linear_solver;
four_bodies_four_constraints.linear_solver = linear_solver;
// one_body_one
one_body_one_constraint.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
one_body_one_constraint.Bind (*model);
// two_bodies_one
two_bodies_one_constraint.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
two_bodies_one_constraint.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
two_bodies_one_constraint.Bind (*model);
// four_bodies_one
four_bodies_one_constraint.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_one_constraint.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_one_constraint.AddContactConstraint (hand_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_one_constraint.AddContactConstraint (hand_l, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_one_constraint.Bind (*model);
// one_body_four
one_body_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
one_body_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
one_body_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
one_body_four_constraints.AddContactConstraint (foot_r, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
one_body_four_constraints.Bind (*model);
// two_bodies_four
two_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
two_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
two_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
two_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
two_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
two_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
two_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
two_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
two_bodies_four_constraints.Bind (*model);
// four_bodies_four
four_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
four_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
four_bodies_four_constraints.AddContactConstraint (foot_r, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
four_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
four_bodies_four_constraints.AddContactConstraint (foot_l, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (hand_r, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (hand_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
four_bodies_four_constraints.AddContactConstraint (hand_r, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
four_bodies_four_constraints.AddContactConstraint (hand_r, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (hand_l, Vector3d (0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.AddContactConstraint (hand_l, Vector3d (0.1, 0., -0.05), Vector3d (0., 1., 0.));
four_bodies_four_constraints.AddContactConstraint (hand_l, Vector3d (0.1, 0., -0.05), Vector3d (0., 0., 1.));
four_bodies_four_constraints.AddContactConstraint (hand_l, Vector3d (-0.1, 0., -0.05), Vector3d (1., 0., 0.));
four_bodies_four_constraints.Bind (*model);
model_name = "Human36";
if (!json_output) {
cout << "= #DOF: " << setw(3) << model->dof_count << endl;
cout << "= #samples: " << sample_count << endl;
cout << "= No constraints (Articulated Body Algorithm):" << endl;
run_forward_dynamics_ABA_benchmark(model, sample_count);
}
// one body one
model_name = "Human36_1Bodies1Constraints";
if (contacts_method == ConstraintsMethodDirect) {
run_contacts_lagrangian_benchmark (model, &one_body_one_constraint, sample_count);
} else if (contacts_method == ConstraintsMethodRangeSpaceSparse) {
run_contacts_lagrangian_sparse_benchmark (model, &one_body_one_constraint, sample_count);
} else if (contacts_method == ConstraintsMethodNullSpace) {
run_contacts_null_space (model, &one_body_one_constraint, sample_count);
} else {
run_contacts_kokkevis_benchmark (model, &one_body_one_constraint, sample_count);
}
// two_bodies_one
model_name = "Human36_2Bodies1Constraints";
if (contacts_method == ConstraintsMethodDirect) {
run_contacts_lagrangian_benchmark (model, &two_bodies_one_constraint, sample_count);
} else if (contacts_method == ConstraintsMethodRangeSpaceSparse) {
run_contacts_lagrangian_sparse_benchmark (model, &two_bodies_one_constraint, sample_count);
} else if (contacts_method == ConstraintsMethodNullSpace) {
run_contacts_null_space (model, &two_bodies_one_constraint, sample_count);
} else {
run_contacts_kokkevis_benchmark (model, &two_bodies_one_constraint, sample_count);
}
// four_bodies_one
model_name = "Human36_4Bodies1Constraints";
if (contacts_method == ConstraintsMethodDirect) {
run_contacts_lagrangian_benchmark (model, &four_bodies_one_constraint, sample_count);
} else if (contacts_method == ConstraintsMethodRangeSpaceSparse) {
run_contacts_lagrangian_sparse_benchmark (model, &four_bodies_one_constraint, sample_count);
} else if (contacts_method == ConstraintsMethodNullSpace) {
run_contacts_null_space (model, &four_bodies_one_constraint, sample_count);
} else {
run_contacts_kokkevis_benchmark (model, &four_bodies_one_constraint, sample_count);
}
// one_body_four
model_name = "Human36_1Bodies4Constraints";
if (contacts_method == ConstraintsMethodDirect) {
run_contacts_lagrangian_benchmark (model, &one_body_four_constraints, sample_count);
} else if (contacts_method == ConstraintsMethodRangeSpaceSparse) {
run_contacts_lagrangian_sparse_benchmark (model, &one_body_four_constraints, sample_count);
} else if (contacts_method == ConstraintsMethodNullSpace) {
run_contacts_null_space (model, &one_body_four_constraints, sample_count);
} else {
run_contacts_kokkevis_benchmark (model, &one_body_four_constraints, sample_count);
}
// two_bodies_four
model_name = "Human36_2Bodies4Constraints";
if (contacts_method == ConstraintsMethodDirect) {
run_contacts_lagrangian_benchmark (model, &two_bodies_four_constraints, sample_count);
} else if (contacts_method == ConstraintsMethodRangeSpaceSparse) {
run_contacts_lagrangian_sparse_benchmark (model, &two_bodies_four_constraints, sample_count);
} else if (contacts_method == ConstraintsMethodNullSpace) {
run_contacts_null_space (model, &two_bodies_four_constraints, sample_count);
} else {
run_contacts_kokkevis_benchmark (model, &two_bodies_four_constraints, sample_count);
}
// four_bodies_four
model_name = "Human36_4Bodies4Constraints";
if (contacts_method == ConstraintsMethodDirect) {
run_contacts_lagrangian_benchmark (model, &four_bodies_four_constraints, sample_count);
} else if (contacts_method == ConstraintsMethodRangeSpaceSparse) {
run_contacts_lagrangian_sparse_benchmark (model, &four_bodies_four_constraints, sample_count);
} else if (contacts_method == ConstraintsMethodNullSpace) {
run_contacts_null_space (model, &four_bodies_four_constraints, sample_count);
} else {
run_contacts_kokkevis_benchmark (model, &four_bodies_four_constraints, sample_count);
}
delete model;
}
double run_single_inverse_kinematics_benchmark(Model *model, std::vector<InverseKinematicsConstraintSet> &CS, int sample_count){
TimerInfo tinfo;
timer_start (&tinfo);
VectorNd qinit = VectorNd::Zero(model->dof_count);
VectorNd qres = VectorNd::Zero(model->dof_count);
VectorNd failures = VectorNd::Zero(model->dof_count);
for (int i = 0; i < sample_count; i++) {
if (!InverseKinematics(*model, qinit, CS[i], qres)){
failures[i] = 1;
}
}
double duration = timer_stop (&tinfo);
std::cout << "Success Rate: " << (1-failures.mean())*100 << "% for: ";
return duration;
}
double run_all_inverse_kinematics_benchmark (unsigned int sample_count){
//initialize the human model
Model *model = new Model();
generate_human36model(model);
unsigned int foot_r = model->GetBodyId ("foot_r");
unsigned int foot_l = model->GetBodyId ("foot_l");
unsigned int hand_r = model->GetBodyId ("hand_r");
unsigned int hand_l = model->GetBodyId ("hand_l");
unsigned int head = model->GetBodyId ("head");
Vector3d foot_r_point (1., 0., 0.);
Vector3d foot_l_point (-1., 0., 0.);
Vector3d hand_r_point (0., 1., 0.);
Vector3d hand_l_point (1., 0., 1.);
Vector3d head_point (0.,0.,-1.);
SampleData sample_data;
sample_data.fillRandom(model->dof_count, sample_count);
//create constraint sets
std::vector<InverseKinematicsConstraintSet> cs_one_point;
std::vector<InverseKinematicsConstraintSet> cs_two_point_one_orientation;
std::vector<InverseKinematicsConstraintSet> cs_two_full_one_point;
std::vector<InverseKinematicsConstraintSet> cs_two_full_two_point_one_orientation;
std::vector<InverseKinematicsConstraintSet> cs_five_full;
for (unsigned int i = 0; i < sample_count; i++){
Vector3d foot_r_position = CalcBodyToBaseCoordinates (*model, sample_data.q[i], foot_r, foot_r_point);
Vector3d foot_l_position = CalcBodyToBaseCoordinates (*model, sample_data.q[i], foot_l, foot_l_point);
Vector3d hand_r_position = CalcBodyToBaseCoordinates (*model, sample_data.q[i], hand_r, hand_r_point);
Vector3d hand_l_position = CalcBodyToBaseCoordinates (*model, sample_data.q[i], hand_l, hand_l_point);
Vector3d head_position = CalcBodyToBaseCoordinates (*model, sample_data.q[i], head , head_point);
Matrix3d foot_r_orientation = CalcBodyWorldOrientation (*model, sample_data.q[i], foot_r, false);
Matrix3d foot_l_orientation = CalcBodyWorldOrientation (*model, sample_data.q[i], foot_l, false);
Matrix3d hand_r_orientation = CalcBodyWorldOrientation (*model, sample_data.q[i], hand_r, false);
Matrix3d hand_l_orientation = CalcBodyWorldOrientation (*model, sample_data.q[i], hand_l, false);
Matrix3d head_orientation = CalcBodyWorldOrientation (*model, sample_data.q[i], head , false);
//single point
InverseKinematicsConstraintSet one_point;
one_point.AddPointConstraint(foot_r, foot_r_point, foot_r_position);
one_point.step_tol = 1e-12;
cs_one_point.push_back(one_point);
//two point and one orientation
InverseKinematicsConstraintSet two_point_one_orientation;
two_point_one_orientation.AddPointConstraint(foot_l,foot_l_point, foot_l_position);
two_point_one_orientation.AddPointConstraint(foot_r, foot_r_point, foot_r_position);
two_point_one_orientation.AddOrientationConstraint(head, head_orientation);
two_point_one_orientation.step_tol = 1e-12;
cs_two_point_one_orientation.push_back(two_point_one_orientation);
//two full and one point
InverseKinematicsConstraintSet two_full_one_point;
two_full_one_point.AddFullConstraint(hand_r, hand_r_point, hand_r_position, hand_r_orientation);
two_full_one_point.AddFullConstraint(hand_l, hand_l_point, hand_l_position, hand_l_orientation);
two_full_one_point.AddPointConstraint(head, head_point, head_position);
two_full_one_point.step_tol = 1e-12;
cs_two_full_one_point.push_back(two_full_one_point);
//two full, two points and one orienation
InverseKinematicsConstraintSet two_full_two_point_one_orientation;
two_full_two_point_one_orientation.AddPointConstraint(foot_r, foot_r_point, foot_r_position);
two_full_two_point_one_orientation.AddPointConstraint(foot_l, foot_l_point, foot_l_position);
two_full_two_point_one_orientation.AddFullConstraint(hand_r, hand_r_point, hand_r_position, hand_r_orientation);
two_full_two_point_one_orientation.AddFullConstraint(hand_l, hand_l_point, hand_l_position, hand_l_orientation);
two_full_two_point_one_orientation.AddOrientationConstraint(head, head_orientation);
two_full_two_point_one_orientation.step_tol = 1e-12;
cs_two_full_two_point_one_orientation.push_back(two_full_two_point_one_orientation);
//five points 5 orientations
InverseKinematicsConstraintSet five_full;
five_full.AddFullConstraint(foot_r, foot_r_point, foot_r_position, foot_r_orientation);
five_full.AddFullConstraint(foot_l, foot_l_point, foot_l_position, foot_l_orientation);
five_full.AddFullConstraint(hand_r, hand_r_point, hand_r_position, hand_r_orientation);
five_full.AddFullConstraint(hand_l, hand_l_point, hand_l_position, hand_l_orientation);
five_full.AddFullConstraint(head, head_point, head_position, head_orientation);
five_full.step_tol = 1e-12;
cs_five_full.push_back(five_full);
}
cout << "= #DOF: " << setw(3) << model->dof_count << endl;
cout << "= #samples: " << sample_count << endl;
double duration;
duration = run_single_inverse_kinematics_benchmark(model, cs_one_point, sample_count);
cout << "Constraints: 1 Body: 1 Point : "
<< " duration = " << setw(10) << duration << "(s)"
<< " (~" << setw(10) << duration / sample_count << "(s) per call)" << endl;
duration = run_single_inverse_kinematics_benchmark(model, cs_two_point_one_orientation, sample_count);
cout << "Constraints: 3 Bodies: 2 Points 1 Orienation : "
<< " duration = " << setw(10) << duration << "(s)"
<< " (~" << setw(10) << duration / sample_count << "(s) per call)" << endl;
duration = run_single_inverse_kinematics_benchmark(model, cs_two_full_one_point, sample_count);
cout << "Constraints: 3 Bodies: 2 Full 1 Point : "
<< " duration = " << setw(10) << duration << "(s)"
<< " (~" << setw(10) << duration / sample_count << "(s) per call)" << endl;
duration = run_single_inverse_kinematics_benchmark(model, cs_two_full_two_point_one_orientation, sample_count);
cout << "Constraints: 5 Bodies: 2 Full 2 Points 1 Orienation : "
<< " duration = " << setw(10) << duration << "(s)"
<< " (~" << setw(10) << duration / sample_count << "(s) per call)" << endl;
duration = run_single_inverse_kinematics_benchmark(model, cs_five_full, sample_count);
cout << "Constraints: 5 Bodies: 5 Full : "
<< " duration = " << setw(10) << duration << "(s)"
<< " (~" << setw(10) << duration / sample_count << "(s) per call)" << endl;
return duration;
}
void print_usage () {
#if defined (RBDL_BUILD_ADDON_LUAMODEL) || defined (RBDL_BUILD_ADDON_URDFREADER)
cout << "Usage: benchmark [--count|-c <sample_count>] [--depth|-d <depth>] <model.lua>" << endl;
#else
cout << "Usage: benchmark [--count|-c <sample_count>] [--depth|-d <depth>]" << endl;
#endif
cout << "Simple benchmark tool for the Rigid Body Dynamics Library." << endl;
cout << " --count | -c <sample_count> : sets the number of sample states that should" << endl;
cout << " be calculated (default: 1000)" << endl;
cout << " --depth | -d <depth> : sets maximum depth for the branched test model" << endl;
cout << " which is created increased from 1 to <depth> (default: 5)." << endl;
#if defined RBDL_BUILD_ADDON_URDFREADER
cout << " --floating-base | -f : the specified URDF model is a floating base model." << endl;
#endif
cout << " --json : prints output in json format." << endl;
cout << " --no-fd : disables benchmarking of forward dynamics." << endl;
cout << " --no-fd-aba : disables benchmark for forwards dynamics using" << endl;
cout << " the Articulated Body Algorithm" << endl;
cout << " --no-fd-lagrangian : disables benchmark for forward dynamics via" << endl;
cout << " solving the lagrangian equation." << endl;
cout << " --no-id-rnea : disables benchmark for inverse dynamics using" << endl;
cout << " the recursive newton euler algorithm." << endl;
cout << " --no-crba : disables benchmark for joint space inertia" << endl;
cout << " matrix computation using the composite rigid" << endl;
cout << " body algorithm." << endl;
cout << " --no-nle : disables benchmark for the nonlinear effects." << endl;
cout << " --no-calc-minv : disables benchmark M^-1 * tau benchmark." << endl;
cout << " --only-contacts | -C : only runs contact model benchmarks." << endl;
cout << " --only-ik : only runs inverse kinematics benchmarks." << endl;
cout << " --help | -h : prints this help." << endl;
}
void disable_all_benchmarks () {
benchmark_run_fd_aba = false;
benchmark_run_fd_lagrangian = false;
benchmark_run_id_rnea = false;
benchmark_run_crba = false;
benchmark_run_nle = false;
benchmark_run_calc_minv_times_tau = false;
benchmark_run_contacts = false;
}
void parse_args (int argc, char* argv[]) {
int argi = 1;
while (argi < argc) {
string arg = argv[argi];
if (arg == "--help" || arg == "-h") {
print_usage();
exit (1);
} else if (arg == "--count" || arg == "-c" ) {
if (argi == argc - 1) {
print_usage();
cerr << "Error: missing number of samples!" << endl;
exit (1);
}
argi++;
stringstream count_stream (argv[argi]);
count_stream >> benchmark_sample_count;
} else if (arg == "--depth" || arg == "-d" ) {
if (argi == argc - 1) {
print_usage();
cerr << "Error: missing number for model depth!" << endl;
exit (1);
}
argi++;
stringstream depth_stream (argv[argi]);
depth_stream >> benchmark_model_max_depth;
#ifdef RBDL_BUILD_ADDON_URDFREADER
} else if (arg == "--floating-base" || arg == "-f") {
urdf_floating_base = true;
#endif
} else if (arg == "--json") {
json_output = true;
} else if (arg == "--no-fd" ) {
benchmark_run_fd_aba = false;
benchmark_run_fd_lagrangian = false;
} else if (arg == "--no-fd-aba" ) {
benchmark_run_fd_aba = false;
} else if (arg == "--no-fd-lagrangian" ) {
benchmark_run_fd_lagrangian = false;
} else if (arg == "--no-id-rnea" ) {
benchmark_run_id_rnea = false;
} else if (arg == "--no-crba" ) {
benchmark_run_crba = false;
} else if (arg == "--no-nle" ) {
benchmark_run_nle = false;
} else if (arg == "--no-calc-minv" ) {
benchmark_run_calc_minv_times_tau = false;
} else if (arg == "--only-contacts" || arg == "-C") {
disable_all_benchmarks();
benchmark_run_contacts = true;
} else if (arg == "--only-ik") {
disable_all_benchmarks();
benchmark_run_ik = true;
#if defined (RBDL_BUILD_ADDON_LUAMODEL) || defined (RBDL_BUILD_ADDON_URDFREADER)
} else if (model_name == "") {
model_name = arg;
#endif
} else {
print_usage();
cerr << "Invalid argument '" << arg << "'." << endl;
exit(1);
}
argi++;
}
}
int main (int argc, char *argv[]) {
parse_args (argc, argv);
Model *model = NULL;
model = new Model();
if (model_name != "") {
if (model_name.substr (model_name.size() - 4, 4) == ".lua") {
#ifdef RBDL_BUILD_ADDON_LUAMODEL
RigidBodyDynamics::Addons::LuaModelReadFromFile (model_name.c_str(), model);
#else
cerr << "Could not load Lua model: LuaModel addon not enabled!" << endl;
abort();
#endif
}
if (model_name.substr (model_name.size() - 5, 5) == ".urdf") {
#ifdef RBDL_BUILD_ADDON_URDFREADER
RigidBodyDynamics::Addons::URDFReadFromFile(model_name.c_str(), model, urdf_floating_base);
#else
cerr << "Could not load URDF model: urdfreader addon not enabled!" << endl;
abort();
#endif
}
if (benchmark_run_fd_aba) {
report_section("Forward Dynamics: ABA");
run_forward_dynamics_ABA_benchmark (model, benchmark_sample_count);
}
if (benchmark_run_fd_lagrangian) {
report_section("Forward Dynamics: Lagrangian (Piv. LU decomposition)");
run_forward_dynamics_lagrangian_benchmark (model, benchmark_sample_count);
}
if (benchmark_run_id_rnea) {
report_section("Inverse Dynamics: RNEA");
run_inverse_dynamics_RNEA_benchmark (model, benchmark_sample_count);
}
if (benchmark_run_crba) {
report_section("Joint Space Inertia Matrix: CRBA");
run_CRBA_benchmark (model, benchmark_sample_count);
}
if (benchmark_run_nle) {
report_section("Nonlinear Effects");
run_nle_benchmark (model, benchmark_sample_count);
}
delete model;
return 0;
}
if (!json_output) {
rbdl_print_version();
cout << endl;
}
if (benchmark_run_fd_aba) {
report_section("Forward Dynamics: ABA");
for (int depth = 1; depth <= benchmark_model_max_depth; depth++) {
ostringstream model_name_stream;
model_name_stream << "planar_model_depth_" << depth;
model_name = model_name_stream.str();
model = new Model();
model->gravity = Vector3d (0., -9.81, 0.);
generate_planar_tree (model, depth);
run_forward_dynamics_ABA_benchmark (model, benchmark_sample_count);
delete model;
}
}
if (benchmark_run_fd_lagrangian) {
report_section("Forward Dynamics: Lagrangian (Piv. LU decomposition)");
for (int depth = 1; depth <= benchmark_model_max_depth; depth++) {
model = new Model();
model->gravity = Vector3d (0., -9.81, 0.);
generate_planar_tree (model, depth);
run_forward_dynamics_lagrangian_benchmark (model, benchmark_sample_count);
delete model;
}
}
if (benchmark_run_id_rnea) {
report_section("Inverse Dynamics: RNEA");
for (int depth = 1; depth <= benchmark_model_max_depth; depth++) {
model = new Model();
model->gravity = Vector3d (0., -9.81, 0.);
generate_planar_tree (model, depth);
run_inverse_dynamics_RNEA_benchmark (model, benchmark_sample_count);
delete model;
}
}
if (benchmark_run_crba) {
report_section("Joint Space Inertia Matrix: CRBA");
for (int depth = 1; depth <= benchmark_model_max_depth; depth++) {
model = new Model();
model->gravity = Vector3d (0., -9.81, 0.);
generate_planar_tree (model, depth);
run_CRBA_benchmark (model, benchmark_sample_count);
delete model;
}
}
if (benchmark_run_nle) {
report_section("Nonlinear Effects");
for (int depth = 1; depth <= benchmark_model_max_depth; depth++) {
model = new Model();
model->gravity = Vector3d (0., -9.81, 0.);
generate_planar_tree (model, depth);
run_nle_benchmark (model, benchmark_sample_count);
delete model;
}
}
if (benchmark_run_calc_minv_times_tau) {
report_section("CalcMInvTimesTau");
for (int depth = 1; depth <= benchmark_model_max_depth; depth++) {
model = new Model();
model->gravity = Vector3d (0., -9.81, 0.);
generate_planar_tree (model, depth);
run_calc_minv_times_tau_benchmark (model, benchmark_sample_count);
delete model;
}
}
if (benchmark_run_contacts) {
report_section("Contacts: ForwardDynamicsConstraintsDirect");
contacts_benchmark (benchmark_sample_count, ConstraintsMethodDirect);
report_section("Contacts: ForwardDynamicsConstraintsRangeSpaceSparse");
contacts_benchmark (benchmark_sample_count, ConstraintsMethodRangeSpaceSparse);
report_section("Contacts: ForwardDynamicsConstraintsNullSpace");
contacts_benchmark (benchmark_sample_count, ConstraintsMethodNullSpace);
report_section("Contacts: ForwardDynamicsContactsKokkevis");
contacts_benchmark (benchmark_sample_count, ConstraintsMethodKokkevis);
}
if (benchmark_run_ik) {
report_section("Inverse Kinematics");
run_all_inverse_kinematics_benchmark(benchmark_sample_count);
}
if (json_output) {
cout.precision(15);
cout << "{" << endl;
cout << " \"rbdl_info\" : {" << endl;
int compile_version = rbdl_get_api_version();
int compile_major = (compile_version & 0xff0000) >> 16;
int compile_minor = (compile_version & 0x00ff00) >> 8;
int compile_patch = (compile_version & 0x0000ff);
std::ostringstream compile_version_string("");
compile_version_string << compile_major << "." << compile_minor << "." << compile_patch;
cout << " \"version_str\" : \"" << compile_version_string.str() << "\"," << endl;
cout << " \"major\" : " << compile_major << "," << endl;
cout << " \"minor\" : " << compile_minor << "," << endl;
cout << " \"patch\" : " << compile_patch << "," << endl;
#if defined RBDL_USE_SIMPLE_MATH
cout << " \"simple_math\" : " << "true," << endl;
#else
cout << " \"simple_math\" : " << "false," << endl;
#endif
cout << " \"build_type\" : \"" << RBDL_BUILD_TYPE << "\"," << endl;
cout << " \"commit\" : \"" << RBDL_BUILD_COMMIT << "\"," << endl;
cout << " \"branch\" : \"" << RBDL_BUILD_BRANCH << "\"," << endl;
cout << " \"compiler_id\" : \"" << RBDL_BUILD_COMPILER_ID << "\"," << endl;
cout << " \"compiler_version\" : \"" << RBDL_BUILD_COMPILER_VERSION << "\"" << endl;
cout << " }," << endl;
cout << " \"host_info\" : {" << endl;
cout << " \"cpu_model_name\" : \"" << get_cpu_model_name() << "\"," << endl;
cout << " \"time_utc\" : " << "\"" << get_utc_time_string() << "\"" << endl;
cout << " }," << endl;
cout << " \"runs\" : ";
cout << "[" << endl;
for (unsigned int i=0; i < benchmark_runs.size(); i++) {
const BenchmarkRun& run = benchmark_runs[i];
const char* indent = " ";
cout << " " << "{" << endl;
cout << indent << "\"model\" : \"" << run.model_name << "\"," << endl;
cout << indent << "\"dof\" : " << run.model_dof << "," << endl;
cout << indent << "\"benchmark\" : \"" << run.benchmark << "\"," << endl;
cout << indent << "\"duration\" : " << run.duration << "," << endl;
cout << indent << "\"sample_count\" : " << run.sample_count << "," << endl;
cout << indent << "\"avg\" : " << run.avg << "," << endl;
cout << indent << "\"min\" : " << run.min << "," << endl;
cout << indent << "\"max\" : " << run.max << endl;
cout << " " << "}";
if (i != benchmark_runs.size() - 1) {
cout << ",";
}
cout << endl;
}
cout << " ]" << endl;
cout << "}" << endl;
}
return 0;
}
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