Added extended testing, separated tests and benchmarks #8
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…timized data structs
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Hi ! This project doesn't usually accept pull requests on the main branch. |
jcarpent
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Aug 23, 2024
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| .cache | ||
| .DS_Store |
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Should be set in your local .gitignore on your computer.
jcarpent
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Aug 23, 2024
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| option(BUILD_WITH_EXTENDED_TESTING "Build library with extended testing" OFF) | ||
| option(BUILD_WITH_BENCHMARK "Build library with timing benchmarks" OFF) |
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| option(BUILD_WITH_EXTENDED_TESTING "Build library with extended testing" OFF) | |
| option(BUILD_WITH_BENCHMARK "Build library with timing benchmarks" OFF) | |
| option(BUILD_EXTENDED_TESTING "Build library with extended testing" OFF) | |
| option(BUILD_BENCHMARK "Build library with timing benchmarks" OFF) |
jcarpent
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Aug 23, 2024
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| # set(LIB_EXTENDED_TEST_DIR ${PROJECT_SOURCE_DIR}/problems) | ||
| # set(LIB_EXTENDED_TEST_HEADERS | ||
| # ${LIB_EXTENDED_TEST_DIR}/test-problems.hpp) | ||
| # set(LIB_EXTENDED_TEST_SOURCES | ||
| # ${LIB_EXTENDED_TEST_DIR}/test-problems.cpp) | ||
| # set(LIB_BENCH_DIR ${PROJECT_SOURCE_DIR}/bench) | ||
| # set(LIB_BENCH_SOURCES | ||
| # ${LIB_BENCH_DIR}/timings.cpp) |
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If not used, should be removed.
jcarpent
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Aug 23, 2024
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| # if(BUILD_WITH_BENCHMARK) | ||
| # list(APPEND LIB_SOURCES ${LIB_BENCH_SOURCES}) | ||
| # endif() | ||
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| # if(BUILD_WITH_EXTENDED_TESTING) | ||
| # list(APPEND LIB_HEADERS ${LIB_EXTENDED_TEST_HEADERS}) | ||
| # list(APPEND LIB_SOURCES ${LIB_EXTENDED_TEST_SOURCES}) | ||
| # endif() | ||
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jcarpent
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Aug 23, 2024
| @@ -4,6 +4,7 @@ | |||
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| #pragma once | |||
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| #include "fwd.hpp" | |||
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| #include "fwd.hpp" | |
| #include "loik/fwd.hpp" |
jcarpent
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Aug 23, 2024
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| // converged | ||
| problem_struct.converged = problem_sol.get<bool>("converged"); | ||
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| // primal_infeasible | ||
| problem_struct.primal_infeasible = problem_sol.get<bool>("primal_infeasible"); | ||
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| // dual_infeasible | ||
| problem_struct.dual_infeasible = problem_sol.get<bool>("dual_infeasible"); | ||
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| // primal_residual | ||
| problem_struct.primal_residual = problem_sol.get<double>("primal_residual"); | ||
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| // dual_residual | ||
| problem_struct.dual_residual = problem_sol.get<double>("dual_residual"); | ||
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| // mu | ||
| problem_struct.mu = problem_sol.get<double>("mu"); | ||
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| // n_iter | ||
| problem_struct.n_iter = problem_sol.get<int>("n_iter"); | ||
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| // n_tail_solve_iter | ||
| problem_struct.n_tail_solve_iter = problem_sol.get<int>("n_tail_solve_iter"); | ||
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| // n_active_ineq_constraint | ||
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| // vis | ||
| const ptree& vis_pt = problem_sol.get_child("vis"); | ||
| utils::PtreeToContainerOfObj<Motion, pin_aligned_vec>(vis_pt, problem_struct.vis); | ||
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| // yis | ||
| const ptree& yis_pt = problem_sol.get_child("yis"); | ||
| utils::PtreeToContainerOfObj<Vec6, pin_aligned_vec>(yis_pt, problem_struct.yis); | ||
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| // w | ||
| const ptree& w_pt = problem_sol.get_child("w"); | ||
| utils::PtreeToDataObj<DVec>(w_pt, problem_struct.w); | ||
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| // z | ||
| const ptree& z_pt = problem_sol.get_child("z"); | ||
| utils::PtreeToDataObj<DVec>(z_pt, problem_struct.z); | ||
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| /// push problem to problem_sequence | ||
| problem_sequence.push_back(problem_struct); | ||
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| } //endfor | ||
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| } // SequenceDiffIKProblems::LoadProblemsFromJson | ||
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| /// explicit instantiation and specializations | ||
| namespace utils { | ||
| using Index = typename loik::DiffIKProblem<double>::Index; | ||
| using DVec = typename loik::DiffIKProblem<double>::DVec; | ||
| using Vec6 = typename loik::DiffIKProblem<double>::Vec6; | ||
| using Motion = typename loik::DiffIKProblem<double>::Motion; | ||
| using Mat6x6 = typename loik::DiffIKProblem<double>::Mat6x6; | ||
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| template<typename T> | ||
| using pin_aligned_vec = typename pinocchio::container::aligned_vector<T>; | ||
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| // explicit instantiation | ||
| template void PtreeToVec<DVec>(const ptree&, const DVec&); | ||
| template void PtreeToVec<Vec6>(const ptree&, const Vec6&); | ||
| template void PtreeToMat<Mat6x6>(const ptree&, const Mat6x6&); | ||
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| // `PtreeToDataObj` specializations | ||
| template <> | ||
| void PtreeToDataObj<DVec>(const ptree& pt, const DVec& vec) { PtreeToVec<DVec>(pt, vec); } // PtreeToDataObj<DVec> | ||
| template <> | ||
| void PtreeToDataObj<Vec6>(const ptree& pt, const Vec6& vec) { PtreeToVec<Vec6>(pt, vec); } // PtreeToDataObj<Vec6> | ||
| template <> | ||
| void PtreeToDataObj<Mat6x6>(const ptree& pt, const Mat6x6& mat) { PtreeToMat<Mat6x6>(pt, mat); } // PtreeToDataObj<Mat6x6> | ||
| template <> | ||
| void PtreeToDataObj<Motion>(const ptree& pt, const Motion& motion) | ||
| { | ||
| Motion& motion_out = const_cast<Motion&>(motion); | ||
| Motion::Vector6 motion_v6 = Motion::Vector6::Zero(); | ||
| PtreeToVec(pt, motion_v6); | ||
| motion_out = motion_v6; | ||
| } // PtreeToDataObj<Motion> | ||
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| // explicit instantiation | ||
| template void PtreeToDataObj<Index>(const ptree&, const Index&); | ||
| template void PtreeToContainerOfObj<Index, std::vector>(const ptree&, const std::vector<Index>&); | ||
| template void PtreeToContainerOfObj<DVec, pin_aligned_vec>(const ptree&, const pin_aligned_vec<DVec>&); | ||
| template void PtreeToContainerOfObj<Vec6, pin_aligned_vec>(const ptree&, const pin_aligned_vec<Vec6>&); | ||
| template void PtreeToContainerOfObj<Mat6x6, pin_aligned_vec>(const ptree&, const pin_aligned_vec<Mat6x6>&); | ||
| template void PtreeToContainerOfObj<Motion, pin_aligned_vec>(const ptree&, const pin_aligned_vec<Motion>&); | ||
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| } // namespace utils | ||
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| template struct DiffIKProblem<double>; | ||
| template struct SequenceDiffIKProblems<double>; | ||
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| } // namespace loik |
jcarpent
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Aug 23, 2024
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| // std::string("/panda_description/urdf/panda.urdf"); | ||
| // urdf_filename = |
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Problem data JSON files are copied over from IkBench. Now has separate bench compile options