This repository runs benchmarks of various DARE solvers.
Install the following packages: cmake, gcc, gfortran, blas, lapack.
cmake -B build -S .
cmake --build build
./build/DAREBenchRan via ./build/DAREBench --benchmark_time_unit=us.
Running ./build/DAREBench
Run on (8 X 3599.99 MHz CPU s)
CPU Caches:
L1 Data 32 KiB (x4)
L1 Instruction 32 KiB (x4)
L2 Unified 256 KiB (x4)
L3 Unified 6144 KiB (x1)
Load Average: 4.34, 2.23, 1.39
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 28.1 us 28.1 us 25090
DARE_WPIMath_NoPrecondChecks_Dynamic 21.1 us 21.0 us 33278
DARE_WPIMath_Static 13.1 us 13.1 us 53207
DARE_WPIMath_NoPrecondChecks_Static 9.02 us 9.01 us 77794
DARE_SLICOT 41.8 us 41.8 us 16256
DARE_Drake 28.5 us 28.4 us 24502
Ran via LD_LIBRARY_PATH=. ./DAREBench --benchmark_time_unit=us.
Running ./DAREBench
Run on (2 X 666.66 MHz CPU s)
Load Average: 0.43, 0.29, 0.16
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 641 us 640 us 1092
DARE_WPIMath_NoPrecondChecks_Dynamic 433 us 432 us 1618
DARE_WPIMath_Static 289 us 289 us 2426
DARE_WPIMath_NoPrecondChecks_Static 188 us 188 us 3723
DARE_SLICOT 827 us 826 us 848
DARE_Drake 2331 us 2328 us 301
| Files | Upstream Repo | License |
|---|---|---|
src/frc/ |
https://github.com/wpilibsuite/allwpilib | WPILib 3-Clause BSD |
src/slicot/*.f |
https://github.com/SLICOT/SLICOT-Reference | SLICOT 3-Clause BSD |
src/drake/ |
https://github.com/RobotLocomotion/drake | Drake 3-Clause BSD |
| everything else | N/A | 3-Clause BSD |