Benchmarks
Run perf/runbenchmarks.jl
(-O3
and --check-bounds=no
flags recommended) to see benchmark results for the Atlas robot (v5) in the following scenarios:
Compute the joint-space mass matrix.
Do inverse dynamics.
Do forward dynamics.
Note that results on Travis builds are not at all representative because of code coverage. Results on a recent, fast machine with version 0.0.4:
Output of versioninfo()
:
Julia Version 0.5.0
Commit 3c9d753 (2016-09-19 18:14 UTC)
Platform Info:
System: Linux (x86_64-pc-linux-gnu)
CPU: Intel(R) Core(TM) i7-6950X CPU @ 3.00GHz
WORD_SIZE: 64
BLAS: libopenblas (USE64BITINT DYNAMIC_ARCH NO_AFFINITY Haswell)
LAPACK: libopenblas64_
LIBM: libopenlibm
LLVM: libLLVM-3.7.1 (ORCJIT, broadwell)
Mass matrix:
memory estimate: 0.00 bytes
allocs estimate: 0
--------------
minimum time: 23.034 μs (0.00% GC)
median time: 23.364 μs (0.00% GC)
mean time: 23.546 μs (0.00% GC)
maximum time: 52.605 μs (0.00% GC)
--------------
samples: 10000
evals/sample: 1
time tolerance: 5.00%
memory tolerance: 1.00%
Inverse dynamics:
memory estimate: 0.00 bytes
allocs estimate: 0
--------------
minimum time: 29.178 μs (0.00% GC)
median time: 29.704 μs (0.00% GC)
mean time: 30.276 μs (0.00% GC)
maximum time: 65.232 μs (0.00% GC)
--------------
samples: 10000
evals/sample: 1
time tolerance: 5.00%
memory tolerance: 1.00%
Forward dynamics:
memory estimate: 48.00 bytes
allocs estimate: 2
--------------
minimum time: 53.336 μs (0.00% GC)
median time: 82.928 μs (0.00% GC)
mean time: 83.334 μs (0.00% GC)
maximum time: 208.453 μs (0.00% GC)
--------------
samples: 10000
evals/sample: 1
time tolerance: 5.00%
memory tolerance: 1.00%