Merge pull request #9 from janbruedigam/benchmarks

Add benchmarks

.github/workflows/ci.yml

@@ -9,10 +9,11 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ matrix.version == 'nightly' }}
+    continue-on-error: ${{ matrix.version == 'nightly'}}
     strategy:
       matrix:
         version:
+          - '1.3'
           - '1.4'
           - 'nightly'
         os:

Project.toml

@@ -23,13 +23,13 @@ Colors = "0.11.2"
 CoordinateTransformations = "0.5.1"
 FileIO = "1.3.0"
 GeometryTypes = "0.7.10"
-LightXML = "0.9.0"
+LightXML = "0.8.1, 0.9.0"
 MeshCat = "0.9.1"
 MeshIO = "0.3.2"
 Plots = "1.0.14"
 Rotations = "0.13.0"
 StaticArrays = "0.12.3"
-julia = "1.4"
+julia = "1.3, 1.4"
 
 [extras]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"

benchmark/Project.toml

@@ -1,3 +1,4 @@
 [deps]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
-PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"
+PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

benchmark/benchmarks.jl

@@ -1,4 +1,5 @@
 using BenchmarkTools
 
 SUITE = BenchmarkGroup()
-SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
+
+include("example_benchmark.jl")

benchmark/example_benchmark.jl

@@ -0,0 +1,47 @@
+files = [
+    "atlas"
+    "axes"
+    "chain_in_chain"
+    "dice_nofriction"
+    "dice_tiltedplane"
+    "dice"
+    "disconnected_bodies"
+    "doublependulum_3d"
+    "doublependulum_urdf"
+    "football"
+    "inverted_pyramid_plane"
+    "joint_force"
+    "joint_torque"
+    "n_fourbars"
+    "n_pendulum"
+    "nutation"
+    "pendulum_forced"
+    "pendulum"
+    "planar_example"
+    "scissor_lift"
+    "slider_crank"
+    "slider_crank3d"
+    "wheel"
+]
+
+for i=1:length(files)-1
+    include("../test/examples/"*files[i]*".jl")
+    mech.g = 0.0
+
+    steps = Base.OneTo(100)
+    storage = Storage{Float64}(steps,length(mech.bodies))
+
+    if files[i]=="joint_force" 
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $joint_force_control!) samples=1
+    elseif files[i]=="pendulum_forced"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $pendulum_forced_control!) samples=1
+    elseif files[i]=="football"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $football_control!) samples=1
+    # elseif files[i]=="nutation"
+    #     SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
+    # elseif files[i]=="chain_in_chain"
+    #     #
+    else
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
+    end
+end

test/example_test.jl

@@ -27,10 +27,10 @@ files = [
 ]
 
 for file in files
-    println(file)
+    # println(file)
     include("examples/"*file*".jl")
     if file=="joint_force" || file=="pendulum_forced" || file=="nutation" || file=="football"
-        storage = simulate!(mech, 10., control!, record = true)
+        storage = simulate!(mech, 10., eval(Meta.parse(file*"_control!")), record = true)
     else
         storage = simulate!(mech, 10., record = true)
     end

test/examples/football.jl

@@ -46,7 +46,7 @@ setPosition!(link4,link5,Δx = [0.;0.;0.03])
 
 spin = 0.35
 
-function control!(mechanism, k)
+function football_control!(mechanism, k)
     if k<25
         setForce!(link3, F = SA[0.;25.;25.], τ=spin*SA[0.2;0.2;1.])
     elseif k==40

test/examples/joint_force.jl

@@ -34,7 +34,7 @@ links = [link1; link2]
 constraints = [joint0to1;joint1to2]
 shapes = [b1;b2]
 
-function control!(mechanism, k)
+function joint_force_control!(mechanism, k)
     F = SVector{2,Float64}(0.1,0.)
     setForce!(mechanism, joint1to2, F)
     return

test/examples/nutation.jl

@@ -23,12 +23,12 @@ shapes = [b1]
 mech = Mechanism(origin, links, constraints, g = 0., shapes = shapes)
 
 axis = [0;0;1.]
-speed = 20pi #*0
+speed = 2pi #*0
 setVelocity!(link1, ω = speed*axis)
 
-function control!(mechanism, k)
+function nutation_control!(mechanism, k)
     if k==1
-        setForce!(mechanism.bodies[1], F = SA[0;0;2.], p=SA[0;1.;0])
+        setForce!(mechanism.bodies[1], F = SA[0;0;0.2], p=SA[0;1.;0])
     else
         setForce!(mechanism.bodies[1], F = SA[0;0;0.], p=SA[0;0.0;0])
     end

test/examples/pendulum_forced.jl

@@ -31,7 +31,7 @@ mech = Mechanism(origin, links, constraints, shapes = shapes)
 setPosition!(origin,link1,p2 = p2,Δq = q1)
 
 jointid = constraints[1].id
-function control!(mechanism, k)
+function pendulum_forced_control!(mechanism, k)
     τ = SVector{1,Float64}(cos(0.5 * k*0.01 * 2pi))
     setForce!(mechanism, geteqconstraint(mechanism,jointid), τ)
 end

test/runtests.jl

@@ -24,8 +24,4 @@ end
 
 @safetestset "Example Tests" begin
     include("example_test.jl")
-end
-
-@safetestset "Allocation Tests" begin
-    include("allocation_test.jl")
 end