adding the FD derivatives using finite-diff

CMakeLists.txt

@@ -70,7 +70,7 @@ OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support"
 OPTION(BUILD_WITH_COLLISION_SUPPORT "Build the library with the collision support (required HPP-FCL)" OFF)
 OPTION(BUILD_WITH_AUTODIFF_SUPPORT "Build the library with the automatic differentiation support (via CppAD)" ON)
 OPTION(BUILD_WITH_CASADI_SUPPORT "Build the library with the support of CASADI" ON)
-OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the support of code generation (via CppADCodeGen)" ON)
+OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the support of code generation (via CppADCodeGen)" OFF)
 OPTION(BUILD_WITH_OPENMP_SUPPORT "Build the library with the OpenMP support" OFF)
 cmake_dependent_option(LINK_PYTHON_INTERFACE_TO_OPENMP "Link OpenMP to the Python interface" ON
   "BUILD_PYTHON_INTERFACE;BUILD_WITH_OPENMP_SUPPORT" OFF)
@@ -120,10 +120,10 @@ ENDIF(BUILD_WITH_URDF_SUPPORT)
 IF(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   IF(BUILD_WITH_CODEGEN_SUPPORT)
-    ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
+    ADD_PROJECT_DEPENDENCY(cppadcg PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
   ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
 
-  ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
+  ADD_PROJECT_DEPENDENCY(cppad PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
 IF(BUILD_WITH_CASADI_SUPPORT)

benchmark/AD_mdof_v4.cpp

@@ -22,6 +22,7 @@ This version compares the CPU Runtime for
 #include "pinocchio/parsers/sample-models.hpp"
 #include "pinocchio/container/aligned-vector.hpp"
 #include "pinocchio/algorithm/rnea-derivatives-SO.hpp"
+#include "pinocchio/algorithm/rnea-second-order-derivatives.hpp"
 #include "pinocchio/codegen/code-generator-algo.hpp"
 // #include "pinocchio/algorithm/aza_so_v2.hpp"
 #include "pinocchio/algorithm/ID_FO_AZA.hpp"
@@ -37,6 +38,7 @@ This version compares the CPU Runtime for
 #include "pinocchio/utils/tensor_utils.hpp"
 // #include "pinocchio/algorithm/aba_v2.hpp"
 #include "pinocchio/algorithm/aba-derivatives-faster.hpp"
+#include "pinocchio/algorithm/aba-derivatives.hpp"
 
 using namespace std;
 using namespace pinocchio;
@@ -276,10 +278,10 @@ int main(int argc, const char* argv[])
         timer.tic();
         SMOOTH(NBT_SO)
         {
-            pinocchio::computeABADerivativesFaster(
+            pinocchio::computeABADerivatives(
                 model, data, qs[_smooth], qdots[_smooth], taus[_smooth], daba_dq, daba_dv, daba_dtau);
 
-            computeRNEADerivativesSO(model, data, qs[_smooth], qdots[_smooth], qddots[_smooth], dtau2_dq_ana, dtau2_dv_ana,
+            ComputeRNEASecondOrderDerivatives(model, data, qs[_smooth], qdots[_smooth], qddots[_smooth], dtau2_dq_ana, dtau2_dv_ana,
                 dtau2_dqv_ana, M_FO);
 
             Minv = daba_dtau;