Benchmarking Pinocchio

Using docker:

docker run --rm -it gepetto/pinocchio-benchmarks

Install Pinocchio & KDL binaries

sudo apt install -qqy robotpkg-pinocchio liborocos-kdl-dev libkdl-parser-dev

Configure your prefix

export PREFIX=$PWD/prefix  # with bash / zsh
export LD_LIBRARY_PATH=$PREFIX/lib:$LD_LIBRARY_PATH
# OR
set -x PREFIX $PWD/prefix  # with fish
set -x LD_LIBRARY_PATH $PREFIX/lib:$LD_LIBRARY_PATH

Install RBDL

wget https://bitbucket.org/rbdl/rbdl/get/default.zip
unzip default.zip
rm default.zip
mv rbdl-rbdl-* libs/rbdl
mkdir -p build/rbdl
pushd build/rbdl
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib -DRBDL_BUILD_ADDON_URDFREADER=ON ../../libs/rbdl
make -j8 install
popd

Install Google Benchmark

mkdir -p build/google-benchmark
pushd build/google-benchmark
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib -DBENCHMARK_ENABLE_GTEST_TESTS=OFF ../../libs/benchmark
make -j8 install
popd

Install

mkdir -p build/pinocchio-benchmarks
pushd build/pinocchio-benchmarks
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_PREFIX_PATH=$PREFIX ../..
make -j8 install
popd

Running

sudo cpupower frequency-set --governor performance
$PREFIX/bin/kdl-test
$PREFIX/bin/rbdl-test
$PREFIX/bin/pinocchio-test
$PREFIX/bin/benchmarks-pinocchio
$PREFIX/bin/benchmarks-rbdl
$PREFIX/bin/benchmarks-kdl
sudo cpupower frequency-set --governor powersave

Results are stored in data/hostname_lib_algo_model.txt