search

Jmeyer1292 / opw_kinematics

Closed form IK for parallel base, spherical wrist industrial manipulators
Apache License 2.0
69 stars 26 forks source link

Performances #68

Closed yvanblanchard closed 2 years ago

yvanblanchard commented 2 years ago

Hello,

Could you please share your performances analysis results ? including comparison with IKFast (I saw IKF files in Test folder), for this same ABB IRB 2400 robot test case.

I compiled the test as it (with my Intel Core i7, 2.7 GHz, Win10 x64), and I got 120ms (one single IK, mean value, for hundreds of tests). I found this duration pretty slow , expecting analytical closed forms to have micro-sec order.

Thank you.

Levi-Armstrong commented 2 years ago

What commands did you use to build the repository?

yvanblanchard commented 2 years ago

Thank you. I think I found the solution. I used a bad way to measure time (std time instead of chrono). Now, I have 50 us (micro-seconds) for one single IK, which is much better! Can you confirm you have (pretty much) the same for your test case ?

yvanblanchard commented 2 years ago

Do you know specific build commands to optimize runtime performances ?

Levi-Armstrong commented 2 years ago

I just wanted to make sure you were building in release. -DCMAKE_BUILD_TYPE=Release I do not believe we currently have any benchmarks on this repo, but the 1 us seems good.