Closed sbarthelemy closed 11 years ago
See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422 for background.
The performaces are unchanged, except for crba which is slightly faster (11%) and jac_point_robot which is slower (22% for 31 dofs, 31% for 63 dofs).
This commit fixes #15 (disregarding the jac_point performance regression).
Following are the raw numbers.
With the #define (before this commit):
Model NBDOF : 31 average execution time : jcalc: 2.09801µs bcalc: 2.79244µs rnea: 6.23396µs rnea (without jcalc): 3.98461µs crba: 8.04819µs crba (without jcalc): 5.70831µs jac_point_robot (without bcalc): 9.4753µs ************* Model NBDOF : 63 average execution time : jcalc: 4.36214µs bcalc: 5.86329µs rnea: 14.0243µs rnea (without jcalc): 8.87873µs crba: 19.0879µs crba (without jcalc): 13.9338µs jac_point_robot (without bcalc): 32.9601µs
Without the #define (after this commit):
Model NBDOF : 31 average execution time : jcalc: 2.09162µs bcalc: 2.79224µs rnea: 6.20565µs rnea (without jcalc): 3.99815µs crba: 7.31568µs crba (without jcalc): 5.02559µs jac_point_robot (without bcalc): 11.5705µs ************* Model NBDOF : 63 average execution time : jcalc: 4.44875µs bcalc: 5.85784µs rnea: 14.1552µs rnea (without jcalc): 8.9347µs crba: 17.6304µs crba (without jcalc): 12.4342µs jac_point_robot (without bcalc): 43.175µs
See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422 for background.
The performaces are unchanged, except for crba which is slightly faster (11%) and jac_point_robot which is slower (22% for 31 dofs, 31% for 63 dofs).
This commit fixes #15 (disregarding the jac_point performance regression).
Following are the raw numbers.
With the #define (before this commit):
Without the #define (after this commit):