How can i test pinocchio rnea cost time(C++)?

[roboticszeng]

I'm using the official example in gtest:

TEST(testBenchmark, pinocchioId)
    {
        pinocchio::Model model;
        pinocchio::buildModels::manipulator(model);
        pinocchio::Data data(model);

        Eigen::VectorXd q = pinocchio::neutral(model);
        Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
        Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
        Eigen::VectorXd tau;
        auto start = std::chrono::high_resolution_clock::now();
        unsigned int test_times = 1000;
        for (unsigned int i = 0; i < test_times; i++)
        {
            tau = pinocchio::rnea(model, data, q, v, a);
        }
        auto end = std::chrono::high_resolution_clock::now();

        std::chrono::duration<double> duration = end - start;
        std::cout << "pinocchio default id, cost time: " << duration.count() << "seconds for " << test_times << " times"
              << std::endl;
        std::cout << "tau = " << tau.transpose() << std::endl;
    }

However, the measured time is 0.123729 seconds for 1000 iterations, which means each rnea computation takes 123.7 microseconds. This performance is significantly different from the claimed performance. What could be the issue?

[jcarpent]

Have you compiled your test in Release mode option (-O3 option with gcc/clang)?

[jcarpent]

Please also check this file for timings: https://github.com/stack-of-tasks/pinocchio/blob/c989669e255715e2fa2504b3226664bf20de6fb5/benchmark/timings.cpp