From c8200468c3fdb777aab097ca879139ce01a7ea95 Mon Sep 17 00:00:00 2001 From: shubhamsingh91 Date: Sun, 17 Dec 2023 21:58:13 -0600 Subject: [PATCH] updated the latest code from stack-of-tasks-master --- CMakeLists.txt | 14 +++--- benchmark/AD_mdof_v1.cpp | 46 ++++++++++-------- benchmark/AD_mdof_v2.cpp | 10 ++-- benchmark/AD_mdof_v3.cpp | 6 +-- benchmark/timings-derivatives | Bin 1811416 -> 1473120 bytes benchmark/timings_cg_v7.cpp | 4 +- bindings/python/CMakeLists.txt | 2 +- .../pinocchio}/algorithm/aba_v2.hpp | 0 .../pinocchio}/algorithm/aba_v2.hxx | 0 .../algorithm/rnea-derivatives-SO.hpp | 8 +-- .../algorithm/rnea-derivatives-SO.hxx | 0 .../algorithm/rnea-derivatives-faster.hpp | 0 .../algorithm/rnea-derivatives-faster.hxx | 0 include/pinocchio/multibody/data.hpp | 30 +----------- include/pinocchio/multibody/data.hxx | 7 +++ .../pinocchio}/spatial/spatial-coriolis.hpp | 0 .../pinocchio}/utils/tensor_utils.hpp | 0 unittest/rnea-derivatives-SO.cpp | 4 +- 18 files changed, 59 insertions(+), 72 deletions(-) rename {src => include/pinocchio}/algorithm/aba_v2.hpp (100%) rename {src => include/pinocchio}/algorithm/aba_v2.hxx (100%) rename {src => include/pinocchio}/algorithm/rnea-derivatives-SO.hpp (97%) rename {src => include/pinocchio}/algorithm/rnea-derivatives-SO.hxx (100%) rename {src => include/pinocchio}/algorithm/rnea-derivatives-faster.hpp (100%) rename {src => include/pinocchio}/algorithm/rnea-derivatives-faster.hxx (100%) rename {src => include/pinocchio}/spatial/spatial-coriolis.hpp (100%) rename {src => include/pinocchio}/utils/tensor_utils.hpp (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9748e0d588..0af40d2f56 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -52,7 +52,7 @@ ENDIF() # --- OPTIONS ---------------------------------------- OPTION(BUILD_BENCHMARK "Build the benchmarks" OFF) OPTION(BUILD_UTILS "Build the utils" OFF) -OPTION(BUILD_PYTHON_INTERFACE "Build the Python bindings" ON) +OPTION(BUILD_PYTHON_INTERFACE "Build the Python bindings" OFF) option(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF) OPTION(BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit version" OFF) @@ -68,13 +68,13 @@ OPTION(BUILD_ADVANCED_TESTING "Build the advanced tests (multiprecision, etc.) o # --- OPTIONAL DEPENDENCIES ------------------------- OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON) 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)" 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)" OFF) +OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the support of code generation (via CppADCodeGen)" ON) 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) -cmake_dependent_option(BUILD_WITH_LIBPYTHON "Link to libpython to embed an interpreter for the python_parser feature" ON +cmake_dependent_option(BUILD_WITH_LIBPYTHON "Link to libpython to embed an interpreter for the python_parser feature" OFF "BUILD_PYTHON_INTERFACE" OFF) OPTION(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF) @@ -136,8 +136,8 @@ ENDIF(BUILD_WITH_OPENMP_SUPPORT) SET(BOOST_REQUIRED_COMPONENTS filesystem serialization system) -SET_BOOST_DEFAULT_OPTIONS() -EXPORT_BOOST_DEFAULT_OPTIONS() +# SET_BOOST_DEFAULT_OPTIONS() +# EXPORT_BOOST_DEFAULT_OPTIONS() ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS}) IF(Boost_VERSION_STRING VERSION_LESS 1.81) @@ -158,7 +158,7 @@ IF(BUILD_PYTHON_INTERFACE) set(PYTHON_COMPONENTS ${PYTHON_COMPONENTS} Development) ENDIF() - ADD_PROJECT_DEPENDENCY(eigenpy 2.7.10 REQUIRED) + # ADD_PROJECT_DEPENDENCY(eigenpy 2.7.10 REQUIRED) IF(BUILD_WITH_LIBPYTHON) # Check wether this a PyPy Python diff --git a/benchmark/AD_mdof_v1.cpp b/benchmark/AD_mdof_v1.cpp index dbd8ba2700..f45596f25b 100755 --- a/benchmark/AD_mdof_v1.cpp +++ b/benchmark/AD_mdof_v1.cpp @@ -29,7 +29,7 @@ This version compares the CPU Runtime for #include "pinocchio/parsers/urdf.hpp" #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/algorithm/rnea-derivatives-faster.hpp" #include "pinocchio/codegen/code-generator-algo.hpp" #include @@ -66,14 +66,14 @@ int main(int argc, const char* argv[]) std::cout << "(the time score in debug mode is not relevant) " << std::endl; #endif - int n_models = 1; + int n_models = 5; string str_robotname[n_models]; str_robotname[0] = "double_pendulum"; // double pendulum - // str_robotname[1] = "ur3_robot"; // UR3 - // str_robotname[2] = "hyq"; // hyq - // str_robotname[3] = "baxter_simple"; // baxter_simple - // str_robotname[4] = "atlas"; // atlas + str_robotname[1] = "ur3_robot"; // UR3 + str_robotname[2] = "hyq"; // hyq + str_robotname[3] = "baxter_simple"; // baxter_simple + str_robotname[4] = "atlas"; // atlas // str_robotname[5] = "talos_full_v2"; // talos_full_v2 char tmp[256]; @@ -155,10 +155,12 @@ int main(int argc, const char* argv[]) //----------------------------------------------------// // Compute RNEA FO derivatives faster-----------------// //----------------------------------------------------// + std::cout << "Running first case!" << std::endl; MatrixXd drnea_dq(MatrixXd::Zero(model.nv, model.nv)); MatrixXd drnea_dv(MatrixXd::Zero(model.nv, model.nv)); MatrixXd drnea_da(MatrixXd::Zero(model.nv, model.nv)); + std::cout << "Running first case algo!" << std::endl; timer.tic(); SMOOTH(NBT) @@ -173,7 +175,8 @@ int main(int argc, const char* argv[]) //----------------------------------------------------------// // Compute RNEA FO derivatives using CppAD (w/out codegen)--// //----------------------------------------------------------// - + + typedef double Scalar; typedef AD ADScalar; @@ -349,7 +352,7 @@ int main(int argc, const char* argv[]) timer.tic(); SMOOTH(NBT_SO) { - 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_ana); } time_ABA[3] = timer.toc() / NBT_SO; // @@ -460,27 +463,27 @@ int main(int argc, const char* argv[]) typename Data::Tensor3x d2tau_dq2_ADc, d2tau_dv2_ADc, d2tau_dqv_ADc, d2tau_daq_ADc; std::string strfun_d2tdq = robot_name + std::string("_d2tau_dq"); - ::casadi::SX d2tau_dq = jacobian(cs_dtau_dq, cs_v_int); + ::casadi::SX d2tau_dqdq = jacobian(cs_dtau_dq, cs_v_int); ::casadi::Function eval_d2tau_dq( - strfun_d2tdq, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dq}); + strfun_d2tdq, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dqdq}); // d2tau_dv2 std::string strfun_d2tdv = robot_name + std::string("_d2tau_dv"); - ::casadi::SX d2tau_dv = jacobian(cs_dtau_dv, cs_v); + ::casadi::SX d2tau_dvdv = jacobian(cs_dtau_dv, cs_v); ::casadi::Function eval_d2tau_dv( - strfun_d2tdv, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dv}); + strfun_d2tdv, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dvdv}); // d2tau_dqdv std::string strfun_d2tdqv = robot_name + std::string("_d2tau_dqv"); - ::casadi::SX d2tau_dqv = jacobian(cs_dtau_dq, cs_v); + ::casadi::SX d2tau_dqdv = jacobian(cs_dtau_dq, cs_v); ::casadi::Function eval_d2tau_dqv( - strfun_d2tdqv, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dqv}); + strfun_d2tdqv, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dqdv}); // d2tau_dqda std::string strfun_d2tdaq = robot_name + std::string("_d2tau_daq"); - ::casadi::SX d2tau_daq = jacobian(cs_dtau_da, cs_v_int); + ::casadi::SX d2tau_dadq = jacobian(cs_dtau_da, cs_v_int); ::casadi::Function eval_d2tau_daq( - strfun_d2tdaq, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_daq}); + strfun_d2tdaq, ::casadi::SXVector {cs_q, cs_v_int, cs_v, cs_a}, ::casadi::SXVector {d2tau_dadq}); string compile_command; @@ -547,7 +550,7 @@ int main(int argc, const char* argv[]) //----------------------------------------------------------------------// //--------------NOT TIMED ----------------------------------------------// - computeRNEADerivativesSO(adc_model, adc_data, q_int_ad, v_ad, a_ad); + ComputeRNEASecondOrderDerivatives(adc_model, adc_data, q_int_ad, v_ad, a_ad); std::string strfun_d2tdq_ana_cg = robot_name + std::string("_d2tau_dq_ana_cg"); std::string strfun_d2tdv_ana_cg = robot_name + std::string("_d2tau_dv_ana_cg"); @@ -562,8 +565,8 @@ int main(int argc, const char* argv[]) cas_mat4(model.nv, model.nv); for (int k = 0; k < model.nv; k++) { - get_mat_from_tens3_v2(adc_data.d2tau_dq, cas_mat1, model.nv, k); - get_mat_from_tens3_v2(adc_data.d2tau_dv, cas_mat2, model.nv, k); + get_mat_from_tens3_v2(adc_data.d2tau_dqdq, cas_mat1, model.nv, k); + get_mat_from_tens3_v2(adc_data.d2tau_dvdv, cas_mat2, model.nv, k); get_mat_from_tens3_v2(adc_data.d2tau_dqdv, cas_mat3, model.nv, k); get_mat_from_tens3_v2(adc_data.d2tau_dadq, cas_mat4, model.nv, k); @@ -612,7 +615,10 @@ int main(int argc, const char* argv[]) = "gcc -fPIC -shared -O3 -march=native " + strfun_MFO_ana_cg + ".c -o " + strfun_MFO_ana_cg + ".so "; flag = system(compile_command.c_str()); } - + + + + //------------------------------------------------// // Writing all the timings to the file //------------------------------------------------// diff --git a/benchmark/AD_mdof_v2.cpp b/benchmark/AD_mdof_v2.cpp index ded5597e16..cc77d2ea51 100644 --- a/benchmark/AD_mdof_v2.cpp +++ b/benchmark/AD_mdof_v2.cpp @@ -58,14 +58,14 @@ int main(int argc, const char* argv[]) std::cout << "(the time score in debug mode is not relevant) " << std::endl; #endif - int n_models = 1; // no of robots to be used + int n_models = 4; // no of robots to be used string str_robotname[n_models]; str_robotname[0] = "double_pendulum"; // double pendulum - // str_robotname[1] = "ur3_robot"; // UR3 - // str_robotname[2] = "hyq"; // hyq - // str_robotname[3] = "baxter_simple"; // baxter_simple - // str_robotname[4] = "atlas"; // atlas + str_robotname[1] = "ur3_robot"; // UR3 + str_robotname[2] = "hyq"; // hyq + str_robotname[3] = "baxter_simple"; // baxter_simple + str_robotname[4] = "atlas"; // atlas // str_robotname[5] = "talos_full_v2"; // Talos char tmp[256]; diff --git a/benchmark/AD_mdof_v3.cpp b/benchmark/AD_mdof_v3.cpp index 8f34d03ad8..8ec8dcce03 100644 --- a/benchmark/AD_mdof_v3.cpp +++ b/benchmark/AD_mdof_v3.cpp @@ -567,9 +567,9 @@ int main(int argc, const char* argv[]) // cas_mat4(model.nv, model.nv); // for (int k = 0; k < model.nv; k++) { - // get_mat_from_tens3_v2(adc_data.d2tau_dq, cas_mat1, model.nv, k); - // get_mat_from_tens3_v2(adc_data.d2tau_dv, cas_mat2, model.nv, k); - // get_mat_from_tens3_v2(adc_data.d2tau_dqv, cas_mat3, model.nv, k); + // get_mat_from_tens3_v2(adc_data.d2tau_dqdq, cas_mat1, model.nv, k); + // get_mat_from_tens3_v2(adc_data.d2tau_dvdv, cas_mat2, model.nv, k); + // get_mat_from_tens3_v2(adc_data.d2tau_dqdv, cas_mat3, model.nv, k); // get_mat_from_tens3_v2(adc_data.M_FO, cas_mat4, model.nv, k); // for (int j = 0; j < model.nv; j++) { diff --git a/benchmark/timings-derivatives b/benchmark/timings-derivatives 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