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ferrolho/Benchmark of RBD.jl across Julia versions

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RigidBodyDynamics.jl benchmarks
Raw
Benchmark of RBD.jl across Julia versions
Date: May 6, 2023
Title: Benchmark of RBD.jl across Julia versions
Laptop: Dell XP 13 9343 (2015)
Raw
results-1.7.0-multi-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 772 samples with 10 evaluations.
Range (min … max): 549.872 μs … 2.412 ms ┊ GC (min … max): 0.00% … 42.55%
Time (median): 563.841 μs ┊ GC (median): 0.00%
Time (mean ± σ): 640.594 μs ± 212.099 μs ┊ GC (mean ± σ): 8.85% ± 14.70%
Memory estimate: 373.80 KiB, allocs estimate: 7282.
dynamics!:
BenchmarkTools.Trial: 206 samples with 10 evaluations.
Range (min … max): 1.533 ms … 10.094 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 1.698 ms ┊ GC (median): 0.00%
Time (mean ± σ): 2.385 ms ± 1.460 ms ┊ GC (mean ± σ): 4.71% ± 11.22%
Memory estimate: 375.80 KiB, allocs estimate: 7314.
momentum:
BenchmarkTools.Trial: 2344 samples with 10 evaluations.
Range (min … max): 175.455 μs … 1.267 ms ┊ GC (min … max): 0.00% … 81.83%
Time (median): 180.828 μs ┊ GC (median): 0.00%
Time (mean ± σ): 208.822 μs ± 117.725 μs ┊ GC (mean ± σ): 9.29% ± 13.05%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
mass_matrix!:
BenchmarkTools.Trial: 1923 samples with 10 evaluations.
Range (min … max): 225.228 μs … 1.261 ms ┊ GC (min … max): 0.00% … 65.15%
Time (median): 230.474 μs ┊ GC (median): 0.00%
Time (mean ± σ): 257.385 μs ± 127.173 μs ┊ GC (mean ± σ): 8.69% ± 13.05%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_matrix!:
BenchmarkTools.Trial: 1798 samples with 10 evaluations.
Range (min … max): 218.479 μs … 1.991 ms ┊ GC (min … max): 0.00% … 63.24%
Time (median): 228.172 μs ┊ GC (median): 0.00%
Time (mean ± σ): 274.879 μs ± 156.895 μs ┊ GC (mean ± σ): 8.98% ± 13.14%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
center_of_mass:
BenchmarkTools.Trial: 4826 samples with 10 evaluations.
Range (min … max): 85.456 μs … 1.305 ms ┊ GC (min … max): 0.00% … 85.45%
Time (median): 87.420 μs ┊ GC (median): 0.00%
Time (mean ± σ): 102.195 μs ± 87.822 μs ┊ GC (mean ± σ): 8.98% ± 9.51%
Memory estimate: 51.94 KiB, allocs estimate: 1057.
geometric_jacobian!:
BenchmarkTools.Trial: 3348 samples with 10 evaluations.
Range (min … max): 127.270 μs … 1.703 ms ┊ GC (min … max): 0.00% … 79.00%
Time (median): 129.370 μs ┊ GC (median): 0.00%
Time (mean ± σ): 147.517 μs ± 95.460 μs ┊ GC (mean ± σ): 7.35% ± 10.22%
Memory estimate: 68.16 KiB, allocs estimate: 1547.
constraint_bias!:
BenchmarkTools.Trial: 402 samples with 10 evaluations.
Range (min … max): 1.061 ms … 2.554 ms ┊ GC (min … max): 0.00% … 45.69%
Time (median): 1.081 ms ┊ GC (median): 0.00%
Time (mean ± σ): 1.234 ms ± 289.183 μs ┊ GC (mean ± σ): 9.39% ± 14.39%
Memory estimate: 715.16 KiB, allocs estimate: 13978.
gravitational_potential_energy:
BenchmarkTools.Trial: 4944 samples with 10 evaluations.
Range (min … max): 87.856 μs … 1.197 ms ┊ GC (min … max): 0.00% … 82.28%
Time (median): 89.020 μs ┊ GC (median): 0.00%
Time (mean ± σ): 99.898 μs ± 82.898 μs ┊ GC (mean ± σ): 8.79% ± 9.46%
Memory estimate: 51.83 KiB, allocs estimate: 1116.
inverse_dynamics!:
BenchmarkTools.Trial: 1055 samples with 10 evaluations.
Range (min … max): 384.743 μs … 1.557 ms ┊ GC (min … max): 0.00% … 71.75%
Time (median): 397.670 μs ┊ GC (median): 0.00%
Time (mean ± σ): 464.308 μs ± 194.328 μs ┊ GC (mean ± σ): 9.36% ± 14.81%
with a memory estimate of 1.48 GiB, over 30179998 allocations.
constraint_jacobian!:
BenchmarkTools.Trial: 635 samples with 10 evaluations.
Range (min … max): 584.857 μs … 3.973 ms ┊ GC (min … max): 0.00% … 75.96%
Time (median): 594.161 μs ┊ GC (median): 0.00%
Time (mean ± σ): 774.498 μs ± 563.937 μs ┊ GC (mean ± σ): 7.02% ± 13.47%
Memory estimate: 411.42 KiB, allocs estimate: 6919.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 1892 samples with 10 evaluations.
Range (min … max): 227.307 μs … 2.821 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 231.704 μs ┊ GC (median): 0.00%
Time (mean ± σ): 261.535 μs ± 160.750 μs ┊ GC (mean ± σ): 8.67% ± 13.18%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_rate_bias:
BenchmarkTools.Trial: 991 samples with 10 evaluations.
Range (min … max): 424.654 μs … 3.019 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 431.516 μs ┊ GC (median): 0.00%
Time (mean ± σ): 499.690 μs ± 266.558 μs ┊ GC (mean ± σ): 9.09% ± 15.10%
Memory estimate: 305.64 KiB, allocs estimate: 5735.
kinetic_energy:
BenchmarkTools.Trial: 2332 samples with 10 evaluations.
Range (min … max): 176.450 μs … 3.258 ms ┊ GC (min … max): 0.00% … 94.39%
Time (median): 179.979 μs ┊ GC (median): 0.00%
Time (mean ± σ): 212.350 μs ± 196.895 μs ┊ GC (mean ± σ): 9.59% ± 13.19%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
Raw
results-1.7.0-single-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 775 samples with 10 evaluations.
Range (min … max): 549.559 μs … 2.263 ms ┊ GC (min … max): 0.00% … 41.64%
Time (median): 560.621 μs ┊ GC (median): 0.00%
Time (mean ± σ): 637.605 μs ± 213.136 μs ┊ GC (mean ± σ): 8.82% ± 14.83%
Memory estimate: 373.80 KiB, allocs estimate: 7282.
dynamics!:
BenchmarkTools.Trial: 747 samples with 10 evaluations.
Range (min … max): 571.451 μs … 2.224 ms ┊ GC (min … max): 0.00% … 41.60%
Time (median): 581.898 μs ┊ GC (median): 0.00%
Time (mean ± σ): 656.087 μs ± 214.446 μs ┊ GC (mean ± σ): 8.84% ± 14.72%
Memory estimate: 375.80 KiB, allocs estimate: 7314.
momentum:
BenchmarkTools.Trial: 2426 samples with 10 evaluations.
Range (min … max): 175.941 μs … 1.009 ms ┊ GC (min … max): 0.00% … 81.74%
Time (median): 179.400 μs ┊ GC (median): 0.00%
Time (mean ± σ): 204.001 μs ± 113.471 μs ┊ GC (mean ± σ): 9.33% ± 13.13%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
mass_matrix!:
BenchmarkTools.Trial: 1908 samples with 10 evaluations.
Range (min … max): 225.418 μs … 1.341 ms ┊ GC (min … max): 0.00% … 65.95%
Time (median): 229.849 μs ┊ GC (median): 0.00%
Time (mean ± σ): 259.313 μs ± 130.769 μs ┊ GC (mean ± σ): 8.75% ± 13.13%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_matrix!:
BenchmarkTools.Trial: 1962 samples with 10 evaluations.
Range (min … max): 218.522 μs … 1.182 ms ┊ GC (min … max): 0.00% … 63.91%
Time (median): 223.390 μs ┊ GC (median): 0.00%
Time (mean ± σ): 252.180 μs ± 129.038 μs ┊ GC (mean ± σ): 8.87% ± 13.18%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
center_of_mass:
BenchmarkTools.Trial: 4951 samples with 10 evaluations.
Range (min … max): 85.388 μs … 1.158 ms ┊ GC (min … max): 0.00% … 81.51%
Time (median): 86.805 μs ┊ GC (median): 0.00%
Time (mean ± σ): 99.813 μs ± 82.711 μs ┊ GC (mean ± σ): 8.72% ± 9.53%
Memory estimate: 51.94 KiB, allocs estimate: 1057.
geometric_jacobian!:
BenchmarkTools.Trial: 3410 samples with 10 evaluations.
Range (min … max): 127.338 μs … 1.078 ms ┊ GC (min … max): 0.00% … 85.80%
Time (median): 130.257 μs ┊ GC (median): 0.00%
Time (mean ± σ): 145.139 μs ± 90.540 μs ┊ GC (mean ± σ): 7.48% ± 10.24%
Memory estimate: 68.16 KiB, allocs estimate: 1547.
constraint_bias!:
BenchmarkTools.Trial: 408 samples with 10 evaluations.
Range (min … max): 1.063 ms … 3.054 ms ┊ GC (min … max): 0.00% … 30.42%
Time (median): 1.085 ms ┊ GC (median): 0.00%
Time (mean ± σ): 1.216 ms ± 293.996 μs ┊ GC (mean ± σ): 9.29% ± 14.22%
Memory estimate: 715.16 KiB, allocs estimate: 13978.
gravitational_potential_energy:
BenchmarkTools.Trial: 4913 samples with 10 evaluations.
Range (min … max): 87.990 μs … 1.293 ms ┊ GC (min … max): 0.00% … 87.57%
Time (median): 89.163 μs ┊ GC (median): 0.00%
Time (mean ± σ): 100.566 μs ± 82.363 μs ┊ GC (mean ± σ): 8.65% ± 9.47%
Memory estimate: 51.83 KiB, allocs estimate: 1116.
inverse_dynamics!:
BenchmarkTools.Trial: 1102 samples with 10 evaluations.
Range (min … max): 384.175 μs … 1.568 ms ┊ GC (min … max): 0.00% … 56.85%
Time (median): 392.324 μs ┊ GC (median): 0.00%
Time (mean ± σ): 445.092 μs ± 181.567 μs ┊ GC (mean ± σ): 9.27% ± 14.71%
with a memory estimate of 1.48 GiB, over 30186045 allocations.
constraint_jacobian!:
BenchmarkTools.Trial: 754 samples with 10 evaluations.
Range (min … max): 584.851 μs … 1.725 ms ┊ GC (min … max): 0.00% … 40.98%
Time (median): 593.299 μs ┊ GC (median): 0.00%
Time (mean ± σ): 657.118 μs ± 178.083 μs ┊ GC (mean ± σ): 7.63% ± 13.56%
Memory estimate: 411.42 KiB, allocs estimate: 6919.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 1901 samples with 10 evaluations.
Range (min … max): 227.293 μs … 1.083 ms ┊ GC (min … max): 0.00% … 76.21%
Time (median): 232.047 μs ┊ GC (median): 0.00%
Time (mean ± σ): 260.293 μs ± 128.949 μs ┊ GC (mean ± σ): 8.66% ± 13.10%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_rate_bias:
BenchmarkTools.Trial: 1015 samples with 10 evaluations.
Range (min … max): 424.664 μs … 1.290 ms ┊ GC (min … max): 0.00% … 60.08%
Time (median): 431.810 μs ┊ GC (median): 0.00%
Time (mean ± σ): 487.319 μs ± 179.685 μs ┊ GC (mean ± σ): 9.42% ± 15.17%
Memory estimate: 305.64 KiB, allocs estimate: 5735.
kinetic_energy:
BenchmarkTools.Trial: 2429 samples with 10 evaluations.
Range (min … max): 176.516 μs … 1.096 ms ┊ GC (min … max): 0.00% … 76.41%
Time (median): 180.087 μs ┊ GC (median): 0.00%
Time (mean ± σ): 203.297 μs ± 115.016 μs ┊ GC (mean ± σ): 9.60% ± 13.19%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
Raw
results-1.7.3-multi-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 774 samples with 10 evaluations.
Range (min … max): 557.586 μs … 1.921 ms ┊ GC (min … max): 0.00% … 42.79%
Time (median): 569.856 μs ┊ GC (median): 0.00%
Time (mean ± σ): 638.579 μs ± 206.659 μs ┊ GC (mean ± σ): 8.75% ± 14.61%
Memory estimate: 373.80 KiB, allocs estimate: 7282.
dynamics!:
BenchmarkTools.Trial: 282 samples with 10 evaluations.
Range (min … max): 1.313 ms … 4.087 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 1.565 ms ┊ GC (median): 0.00%
Time (mean ± σ): 1.741 ms ± 430.415 μs ┊ GC (mean ± σ): 5.44% ± 11.33%
Memory estimate: 375.80 KiB, allocs estimate: 7314.
momentum:
BenchmarkTools.Trial: 2403 samples with 10 evaluations.
Range (min … max): 177.573 μs … 1.037 ms ┊ GC (min … max): 0.00% … 78.15%
Time (median): 181.071 μs ┊ GC (median): 0.00%
Time (mean ± σ): 204.282 μs ± 115.499 μs ┊ GC (mean ± σ): 9.54% ± 13.08%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
mass_matrix!:
BenchmarkTools.Trial: 1909 samples with 10 evaluations.
Range (min … max): 228.121 μs … 1.252 ms ┊ GC (min … max): 0.00% … 76.79%
Time (median): 232.259 μs ┊ GC (median): 0.00%
Time (mean ± σ): 259.053 μs ± 126.340 μs ┊ GC (mean ± σ): 8.61% ± 12.97%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_matrix!:
BenchmarkTools.Trial: 1983 samples with 10 evaluations.
Range (min … max): 220.359 μs … 1.120 ms ┊ GC (min … max): 0.00% … 63.34%
Time (median): 224.429 μs ┊ GC (median): 0.00%
Time (mean ± σ): 249.547 μs ± 124.302 μs ┊ GC (mean ± σ): 8.87% ± 13.11%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
center_of_mass:
BenchmarkTools.Trial: 5053 samples with 10 evaluations.
Range (min … max): 86.755 μs … 1.082 ms ┊ GC (min … max): 0.00% … 82.69%
Time (median): 87.936 μs ┊ GC (median): 0.00%
Time (mean ± σ): 97.759 μs ± 79.317 μs ┊ GC (mean ± σ): 8.68% ± 9.48%
Memory estimate: 51.94 KiB, allocs estimate: 1057.
geometric_jacobian!:
BenchmarkTools.Trial: 3465 samples with 10 evaluations.
Range (min … max): 128.283 μs … 1.001 ms ┊ GC (min … max): 0.00% … 86.53%
Time (median): 130.106 μs ┊ GC (median): 0.00%
Time (mean ± σ): 142.665 μs ± 87.618 μs ┊ GC (mean ± σ): 7.48% ± 10.17%
Memory estimate: 68.16 KiB, allocs estimate: 1547.
constraint_bias!:
BenchmarkTools.Trial: 402 samples with 10 evaluations.
Range (min … max): 1.084 ms … 2.783 ms ┊ GC (min … max): 0.00% … 27.11%
Time (median): 1.110 ms ┊ GC (median): 0.00%
Time (mean ± σ): 1.237 ms ± 284.079 μs ┊ GC (mean ± σ): 8.66% ± 13.55%
Memory estimate: 715.16 KiB, allocs estimate: 13978.
gravitational_potential_energy:
BenchmarkTools.Trial: 4991 samples with 10 evaluations.
Range (min … max): 87.774 μs … 968.799 μs ┊ GC (min … max): 0.00% … 89.84%
Time (median): 88.792 μs ┊ GC (median): 0.00%
Time (mean ± σ): 99.050 μs ± 79.049 μs ┊ GC (mean ± σ): 8.44% ± 9.39%
Memory estimate: 51.83 KiB, allocs estimate: 1116.
inverse_dynamics!:
BenchmarkTools.Trial: 1057 samples with 10 evaluations.
Range (min … max): 390.006 μs … 1.838 ms ┊ GC (min … max): 0.00% … 49.72%
Time (median): 396.002 μs ┊ GC (median): 0.00%
Time (mean ± σ): 463.245 μs ± 197.231 μs ┊ GC (mean ± σ): 8.91% ± 14.50%
with a memory estimate of 1.48 GiB, over 30180984 allocations.
constraint_jacobian!:
BenchmarkTools.Trial: 596 samples with 10 evaluations.
Range (min … max): 596.574 μs … 3.969 ms ┊ GC (min … max): 0.00% … 77.59%
Time (median): 642.349 μs ┊ GC (median): 0.00%
Time (mean ± σ): 821.494 μs ± 558.789 μs ┊ GC (mean ± σ): 8.10% ± 13.51%
Memory estimate: 411.42 KiB, allocs estimate: 6919.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 1666 samples with 10 evaluations.
Range (min … max): 228.264 μs … 3.700 ms ┊ GC (min … max): 0.00% … 21.38%
Time (median): 236.577 μs ┊ GC (median): 0.00%
Time (mean ± σ): 295.413 μs ± 312.379 μs ┊ GC (mean ± σ): 8.83% ± 13.07%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_rate_bias:
BenchmarkTools.Trial: 1001 samples with 10 evaluations.
Range (min … max): 430.978 μs … 2.864 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 439.578 μs ┊ GC (median): 0.00%
Time (mean ± σ): 495.052 μs ± 193.343 μs ┊ GC (mean ± σ): 9.44% ± 15.13%
Memory estimate: 305.64 KiB, allocs estimate: 5735.
kinetic_energy:
BenchmarkTools.Trial: 2164 samples with 10 evaluations.
Range (min … max): 178.746 μs … 3.447 ms ┊ GC (min … max): 0.00% … 91.88%
Time (median): 183.052 μs ┊ GC (median): 0.00%
Time (mean ± σ): 228.695 μs ± 246.371 μs ┊ GC (mean ± σ): 9.35% ± 13.12%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
Raw
results-1.7.3-single-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 667 samples with 10 evaluations.
Range (min … max): 557.882 μs … 3.032 ms ┊ GC (min … max): 0.00% … 55.88%
Time (median): 584.646 μs ┊ GC (median): 0.00%
Time (mean ± σ): 741.832 μs ± 321.978 μs ┊ GC (mean ± σ): 8.63% ± 14.81%
Memory estimate: 373.80 KiB, allocs estimate: 7282.
dynamics!:
BenchmarkTools.Trial: 574 samples with 10 evaluations.
Range (min … max): 585.991 μs … 6.919 ms ┊ GC (min … max): 0.00% … 56.04%
Time (median): 625.371 μs ┊ GC (median): 0.00%
Time (mean ± σ): 843.207 μs ± 466.230 μs ┊ GC (mean ± σ): 9.22% ± 14.80%
Memory estimate: 375.80 KiB, allocs estimate: 7314.
momentum:
BenchmarkTools.Trial: 2412 samples with 10 evaluations.
Range (min … max): 177.803 μs … 1.182 ms ┊ GC (min … max): 0.00% … 81.03%
Time (median): 181.878 μs ┊ GC (median): 0.00%
Time (mean ± σ): 205.182 μs ± 115.322 μs ┊ GC (mean ± σ): 9.56% ± 13.12%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
mass_matrix!:
BenchmarkTools.Trial: 1763 samples with 10 evaluations.
Range (min … max): 227.887 μs … 1.401 ms ┊ GC (min … max): 0.00% … 82.28%
Time (median): 236.679 μs ┊ GC (median): 0.00%
Time (mean ± σ): 280.284 μs ± 146.779 μs ┊ GC (mean ± σ): 8.75% ± 13.04%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_matrix!:
BenchmarkTools.Trial: 1852 samples with 10 evaluations.
Range (min … max): 220.527 μs … 1.423 ms ┊ GC (min … max): 0.00% … 75.47%
Time (median): 227.046 μs ┊ GC (median): 0.00%
Time (mean ± σ): 266.788 μs ± 145.948 μs ┊ GC (mean ± σ): 9.23% ± 13.18%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
center_of_mass:
BenchmarkTools.Trial: 4645 samples with 10 evaluations.
Range (min … max): 86.795 μs … 1.469 ms ┊ GC (min … max): 0.00% … 86.18%
Time (median): 88.844 μs ┊ GC (median): 0.00%
Time (mean ± σ): 105.945 μs ± 91.188 μs ┊ GC (mean ± σ): 8.82% ± 9.44%
Memory estimate: 51.94 KiB, allocs estimate: 1057.
geometric_jacobian!:
BenchmarkTools.Trial: 3170 samples with 10 evaluations.
Range (min … max): 128.490 μs … 1.449 ms ┊ GC (min … max): 0.00% … 87.35%
Time (median): 132.884 μs ┊ GC (median): 0.00%
Time (mean ± σ): 155.631 μs ± 103.300 μs ┊ GC (mean ± σ): 7.57% ± 10.24%
Memory estimate: 68.16 KiB, allocs estimate: 1547.
constraint_bias!:
BenchmarkTools.Trial: 378 samples with 10 evaluations.
Range (min … max): 1.082 ms … 3.322 ms ┊ GC (min … max): 0.00% … 25.84%
Time (median): 1.117 ms ┊ GC (median): 0.00%
Time (mean ± σ): 1.312 ms ± 375.728 μs ┊ GC (mean ± σ): 8.80% ± 13.71%
Memory estimate: 715.16 KiB, allocs estimate: 13978.
gravitational_potential_energy:
BenchmarkTools.Trial: 4641 samples with 10 evaluations.
Range (min … max): 87.897 μs … 1.604 ms ┊ GC (min … max): 0.00% … 87.39%
Time (median): 89.680 μs ┊ GC (median): 0.00%
Time (mean ± σ): 106.291 μs ± 91.314 μs ┊ GC (mean ± σ): 8.65% ± 9.34%
Memory estimate: 51.83 KiB, allocs estimate: 1116.
inverse_dynamics!:
BenchmarkTools.Trial: 1099 samples with 10 evaluations.
Range (min … max): 389.827 μs … 2.166 ms ┊ GC (min … max): 0.00% … 53.24%
Time (median): 396.535 μs ┊ GC (median): 0.00%
Time (mean ± σ): 446.430 μs ± 178.903 μs ┊ GC (mean ± σ): 9.20% ± 14.61%
with a memory estimate of 1.48 GiB, over 30183878 allocations.
constraint_jacobian!:
BenchmarkTools.Trial: 719 samples with 10 evaluations.
Range (min … max): 604.422 μs … 1.896 ms ┊ GC (min … max): 0.00% … 46.01%
Time (median): 612.629 μs ┊ GC (median): 0.00%
Time (mean ± σ): 688.737 μs ± 188.914 μs ┊ GC (mean ± σ): 7.30% ± 13.30%
Memory estimate: 411.42 KiB, allocs estimate: 6919.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 1833 samples with 10 evaluations.
Range (min … max): 230.109 μs … 1.486 ms ┊ GC (min … max): 0.00% … 82.93%
Time (median): 234.929 μs ┊ GC (median): 0.00%
Time (mean ± σ): 270.101 μs ± 141.784 μs ┊ GC (mean ± σ): 8.92% ± 13.11%
Memory estimate: 144.20 KiB, allocs estimate: 2911.
momentum_rate_bias:
BenchmarkTools.Trial: 942 samples with 10 evaluations.
Range (min … max): 434.161 μs … 1.918 ms ┊ GC (min … max): 0.00% … 42.65%
Time (median): 444.042 μs ┊ GC (median): 0.00%
Time (mean ± σ): 526.074 μs ± 222.435 μs ┊ GC (mean ± σ): 9.29% ± 15.01%
Memory estimate: 305.64 KiB, allocs estimate: 5735.
kinetic_energy:
BenchmarkTools.Trial: 2330 samples with 10 evaluations.
Range (min … max): 180.376 μs … 1.367 ms ┊ GC (min … max): 0.00% … 68.44%
Time (median): 184.775 μs ┊ GC (median): 0.00%
Time (mean ± σ): 212.426 μs ± 124.259 μs ┊ GC (mean ± σ): 9.66% ± 13.05%
Memory estimate: 132.72 KiB, allocs estimate: 2480.
Raw
results-1.8.0-multi-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 7.123 μs … 30.776 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 7.199 μs ┊ GC (median): 0.00%
Time (mean ± σ): 7.283 μs ± 572.519 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 23.349 μs … 43.982 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 23.601 μs ┊ GC (median): 0.00%
Time (mean ± σ): 24.047 μs ± 1.818 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.440 μs … 10.113 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.509 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.569 μs ± 394.760 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
mass_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 11.849 μs … 1.623 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 11.933 μs ┊ GC (median): 0.00%
Time (mean ± σ): 12.575 μs ± 16.166 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 5.169 μs … 12.385 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 5.268 μs ┊ GC (median): 0.00%
Time (mean ± σ): 5.348 μs ± 489.791 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
center_of_mass:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 2.968 μs … 8.050 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.043 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.106 μs ± 351.159 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.918 μs … 12.667 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.992 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.030 μs ± 275.900 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 13.446 μs … 25.732 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 13.855 μs ┊ GC (median): 0.00%
Time (mean ± σ): 13.997 μs ± 886.028 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 496 bytes, allocs estimate: 1.
gravitational_potential_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.069 μs … 7.166 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.143 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.171 μs ± 216.956 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
inverse_dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.430 μs … 12.841 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.529 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.635 μs ± 543.855 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
simulate tree:
BenchmarkTools.Trial: 4 samples with 10 evaluations.
Range (min … max): 114.716 ms … 116.281 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 115.071 ms ┊ GC (median): 0.00%
Time (mean ± σ): 115.285 ms ± 684.948 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_jacobian!:
BenchmarkTools.Trial: 9114 samples with 10 evaluations.
Range (min … max): 49.929 μs … 1.402 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 50.514 μs ┊ GC (median): 0.00%
Time (mean ± σ): 53.539 μs ± 21.760 μs ┊ GC (mean ± σ): 0.16% ± 0.98%
Memory estimate: 496 bytes, allocs estimate: 1.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 11.768 μs … 184.810 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 12.280 μs ┊ GC (median): 0.00%
Time (mean ± σ): 13.952 μs ± 3.709 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_rate_bias:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.109 μs … 42.325 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.204 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.725 μs ± 1.309 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
kinetic_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.456 μs … 10.328 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.531 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.734 μs ± 710.494 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
Raw
results-1.8.0-single-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 7.158 μs … 15.647 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 7.242 μs ┊ GC (median): 0.00%
Time (mean ± σ): 7.312 μs ± 410.863 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 23.581 μs … 52.722 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 23.783 μs ┊ GC (median): 0.00%
Time (mean ± σ): 24.123 μs ± 1.520 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.518 μs … 10.906 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.589 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.666 μs ± 452.661 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
mass_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 12.043 μs … 22.571 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 12.131 μs ┊ GC (median): 0.00%
Time (mean ± σ): 12.276 μs ± 725.720 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 5.238 μs … 12.964 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 5.323 μs ┊ GC (median): 0.00%
Time (mean ± σ): 5.408 μs ± 490.897 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
center_of_mass:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.042 μs … 7.494 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.114 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.170 μs ± 342.451 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.907 μs … 9.140 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.001 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.066 μs ± 397.399 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 13.944 μs … 737.287 μs ┊ GC (min … max): 0.00% … 97.44%
Time (median): 14.358 μs ┊ GC (median): 0.00%
Time (mean ± σ): 14.690 μs ± 7.357 μs ┊ GC (mean ± σ): 0.49% ± 0.97%
Memory estimate: 496 bytes, allocs estimate: 1.
gravitational_potential_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.056 μs … 6.985 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.142 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.163 μs ± 181.858 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
inverse_dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.444 μs … 12.908 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.530 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.607 μs ± 430.105 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
simulate tree:
BenchmarkTools.Trial: 4 samples with 10 evaluations.
Range (min … max): 115.644 ms … 116.867 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 115.898 ms ┊ GC (median): 0.00%
Time (mean ± σ): 116.077 ms ± 541.807 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_jacobian!:
BenchmarkTools.Trial: 9538 samples with 10 evaluations.
Range (min … max): 50.135 μs … 80.508 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 50.403 μs ┊ GC (median): 0.00%
Time (mean ± σ): 51.225 μs ± 2.701 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 496 bytes, allocs estimate: 1.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 12.122 μs … 207.261 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 12.229 μs ┊ GC (median): 0.00%
Time (mean ± σ): 12.901 μs ± 3.496 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_rate_bias:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.101 μs … 13.561 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.182 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.293 μs ± 545.127 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
kinetic_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.593 μs … 10.041 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.694 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.749 μs ± 345.677 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
Raw
results-1.8.5-multi-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.978 μs … 14.281 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 7.060 μs ┊ GC (median): 0.00%
Time (mean ± σ): 7.144 μs ± 493.975 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 23.636 μs … 44.699 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 23.892 μs ┊ GC (median): 0.00%
Time (mean ± σ): 24.225 μs ± 1.498 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.519 μs … 10.212 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.597 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.658 μs ± 380.145 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
mass_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 11.307 μs … 115.301 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 11.386 μs ┊ GC (median): 0.00%
Time (mean ± σ): 12.130 μs ± 2.432 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 5.217 μs … 11.027 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 5.308 μs ┊ GC (median): 0.00%
Time (mean ± σ): 5.425 μs ± 549.468 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
center_of_mass:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 2.923 μs … 11.271 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 2.992 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.107 μs ± 541.127 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.811 μs … 8.383 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.889 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.934 μs ± 291.930 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 13.822 μs … 711.733 μs ┊ GC (min … max): 0.00% … 97.23%
Time (median): 14.190 μs ┊ GC (median): 0.00%
Time (mean ± σ): 14.425 μs ± 7.032 μs ┊ GC (mean ± σ): 0.48% ± 0.97%
Memory estimate: 496 bytes, allocs estimate: 1.
gravitational_potential_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 2.952 μs … 7.614 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.013 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.042 μs ± 224.421 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
inverse_dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.395 μs … 13.069 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.485 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.582 μs ± 518.396 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
simulate tree:
BenchmarkTools.Trial: 4 samples with 10 evaluations.
Range (min … max): 115.654 ms … 115.895 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 115.824 ms ┊ GC (median): 0.00%
Time (mean ± σ): 115.799 ms ± 102.555 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_jacobian!:
BenchmarkTools.Trial: 9742 samples with 10 evaluations.
Range (min … max): 49.205 μs … 80.954 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 49.405 μs ┊ GC (median): 0.00%
Time (mean ± σ): 50.149 μs ± 2.349 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 496 bytes, allocs estimate: 1.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 12.368 μs … 23.875 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 12.466 μs ┊ GC (median): 0.00%
Time (mean ± σ): 12.621 μs ± 686.725 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_rate_bias:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 5.998 μs … 12.676 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.066 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.124 μs ± 350.170 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
kinetic_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.436 μs … 9.022 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.510 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.549 μs ± 261.342 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
Raw
results-1.8.5-single-thread.txt
dynamics_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 7.109 μs … 15.007 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 7.186 μs ┊ GC (median): 0.00%
Time (mean ± σ): 7.266 μs ± 436.233 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 23.837 μs … 47.119 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 24.076 μs ┊ GC (median): 0.00%
Time (mean ± σ): 24.419 μs ± 1.449 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.561 μs … 8.427 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.630 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.677 μs ± 291.271 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
mass_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 11.274 μs … 132.006 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 11.360 μs ┊ GC (median): 0.00%
Time (mean ± σ): 11.734 μs ± 1.709 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_matrix!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 5.184 μs … 24.722 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 5.263 μs ┊ GC (median): 0.00%
Time (mean ± σ): 5.549 μs ± 901.981 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
center_of_mass:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 2.914 μs … 10.284 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 2.983 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.111 μs ± 558.639 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 3.914 μs … 10.518 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 3.995 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.061 μs ± 407.014 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_bias!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 14.014 μs … 26.550 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 14.403 μs ┊ GC (median): 0.00%
Time (mean ± σ): 14.601 μs ± 1.105 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 496 bytes, allocs estimate: 1.
gravitational_potential_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 2.899 μs … 7.636 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 2.972 μs ┊ GC (median): 0.00%
Time (mean ± σ): 3.009 μs ± 280.406 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
inverse_dynamics!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.679 μs … 12.854 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.760 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.838 μs ± 430.937 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
simulate tree:
BenchmarkTools.Trial: 4 samples with 10 evaluations.
Range (min … max): 116.038 ms … 117.995 ms ┊ GC (min … max): 0.00% … 0.00%
Time (median): 116.433 ms ┊ GC (median): 0.00%
Time (mean ± σ): 116.725 ms ± 873.345 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
constraint_jacobian!:
BenchmarkTools.Trial: 9792 samples with 10 evaluations.
Range (min … max): 48.693 μs … 697.574 μs ┊ GC (min … max): 0.00% … 92.30%
Time (median): 49.043 μs ┊ GC (median): 0.00%
Time (mean ± σ): 49.938 μs ± 7.000 μs ┊ GC (mean ± σ): 0.13% ± 0.93%
Memory estimate: 496 bytes, allocs estimate: 1.
mass_matrix! and geometric_jacobian!:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 12.358 μs … 22.193 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 12.454 μs ┊ GC (median): 0.00%
Time (mean ± σ): 12.622 μs ± 770.379 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
momentum_rate_bias:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 6.115 μs … 263.629 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 6.192 μs ┊ GC (median): 0.00%
Time (mean ± σ): 6.570 μs ± 2.859 μs ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
kinetic_energy:
BenchmarkTools.Trial: 10000 samples with 10 evaluations.
Range (min … max): 4.480 μs … 11.784 μs ┊ GC (min … max): 0.00% … 0.00%
Time (median): 4.553 μs ┊ GC (median): 0.00%
Time (mean ± σ): 4.635 μs ± 495.120 ns ┊ GC (mean ± σ): 0.00% ± 0.00%
Memory estimate: 0 bytes, allocs estimate: 0.
Raw
script.jl
using Measurements
using Plots
using Unitful
import Plots.PlotMeasures: mm
import Unitful: ns, μs, ms, s
julia_versions = ["1.7.0", "1.7.3", "1.8.0", "1.8.5"]
data_multi_thread = Dict(
"dynamics_bias!" => [
640.594μs ± 212.099μs,
638.579μs ± 206.659μs,
7.283μs ± 572.519ns,
7.144μs ± 493.975ns,
],
"dynamics!" => [
2.385ms ± 1.460ms,
1.741ms ± 430.415μs,
24.047μs ± 1.818μs,
24.225μs ± 1.498μs,
],
"momentum" => [
208.822μs ± 117.725μs,
204.282μs ± 115.499μs,
4.569μs ± 394.760ns,
4.658μs ± 380.145ns,
],
"mass_matrix!" => [
257.385μs ± 127.173μs,
259.053μs ± 126.340μs,
12.575μs ± 16.166μs,
12.130μs ± 2.432μs,
],
"momentum_matrix!" => [
274.879μs ± 156.895μs,
249.547μs ± 124.302μs,
5.348μs ± 489.791ns,
5.425μs ± 549.468ns,
],
"center_of_mass" => [
102.195μs ± 87.822μs,
97.759μs ± 79.317μs,
3.106μs ± 351.159ns,
3.107μs ± 541.127ns,
],
"geometric_jacobian!" => [
147.517μs ± 95.460μs,
142.665μs ± 87.618μs,
4.030μs ± 275.900ns,
3.934μs ± 291.930ns,
],
"constraint_bias!" => [
1.234ms ± 289.183μs,
1.237ms ± 284.079μs,
13.997μs ± 886.028ns,
14.425μs ± 7.032μs,
],
"gravitational_potential_energy" => [
99.898μs ± 82.898μs,
99.050μs ± 79.049μs,
3.171μs ± 216.956ns,
3.042μs ± 224.421ns,
],
"inverse_dynamics!" => [
464.308μs ± 194.328μs,
463.245μs ± 197.231μs,
6.635μs ± 543.855ns,
6.582μs ± 518.396ns,
],
"constraint_jacobian!" => [
774.498μs ± 563.937μs,
821.494μs ± 558.789μs,
53.539μs ± 21.760μs,
50.149μs ± 2.349μs,
],
"mass_matrix! and geometric_jacobian!" => [
261.535μs ± 160.750μs,
295.413μs ± 312.379μs,
13.952μs ± 3.709μs,
12.621μs ± 686.725ns,
],
"momentum_rate_bias" => [
499.690μs ± 266.558μs,
495.052μs ± 193.343μs,
6.725μs ± 1.309μs,
6.124μs ± 350.170ns,
],
"kinetic_energy" => [
212.350μs ± 196.895μs,
228.695μs ± 246.371μs,
4.734μs ± 710.494ns,
4.549μs ± 261.342ns,
],
)
data_single_thread = Dict(
"dynamics_bias!" => [
637.605μs ± 213.136μs,
741.832μs ± 321.978μs,
7.312μs ± 410.863ns,
7.266μs ± 436.233ns,
],
"dynamics!" => [
656.087μs ± 214.446μs,
843.207μs ± 466.230μs,
24.123μs ± 1.520μs,
24.419μs ± 1.449μs,
],
"momentum" => [
204.001μs ± 113.471μs,
205.182μs ± 115.322μs,
4.666μs ± 452.661ns,
4.677μs ± 291.271ns,
],
"mass_matrix!" => [
259.313μs ± 130.769μs,
280.284μs ± 146.779μs,
12.276μs ± 725.720ns,
11.734μs ± 1.709μs,
],
"momentum_matrix!" => [
252.180μs ± 129.038μs,
266.788μs ± 145.948μs,
5.408μs ± 490.897ns,
5.549μs ± 901.981ns,
],
"center_of_mass" => [
99.813μs ± 82.711μs,
105.945μs ± 91.188μs,
3.170μs ± 342.451ns,
3.111μs ± 558.639ns,
],
"geometric_jacobian!" => [
145.139μs ± 90.540μs,
155.631μs ± 103.300μs,
4.066μs ± 397.399ns,
4.061μs ± 407.014ns,
],
"constraint_bias!" => [
1.216ms ± 293.996μs,
1.312ms ± 375.728μs,
14.690μs ± 7.357μs,
14.601μs ± 1.105μs,
],
"gravitational_potential_energy" => [
100.566μs ± 82.363μs,
106.291μs ± 91.314μs,
3.163μs ± 181.858ns,
3.009μs ± 280.406ns,
],
"inverse_dynamics!" => [
445.092μs ± 181.567μs,
446.430μs ± 178.903μs,
6.607μs ± 430.105ns,
6.838μs ± 430.937ns,
],
"constraint_jacobian!" => [
657.118μs ± 178.083μs,
688.737μs ± 188.914μs,
51.225μs ± 2.701μs,
49.938μs ± 7.000μs,
],
"mass_matrix! and geometric_jacobian!" => [
260.293μs ± 128.949μs,
270.101μs ± 141.784μs,
12.901μs ± 3.496μs,
12.622μs ± 770.379ns,
],
"momentum_rate_bias" => [
487.319μs ± 179.685μs,
526.074μs ± 222.435μs,
6.293μs ± 545.127ns,
6.570μs ± 2.859μs,
],
"kinetic_energy" => [
203.297μs ± 115.016μs,
212.426μs ± 124.259μs,
4.749μs ± 345.677ns,
4.635μs ± 495.120ns,
],
)
function_names = keys(data_multi_thread) |> collect
plots = map(function_names) do fn
p = plot(title=fn, title_location=:left)
plot!(julia_versions, data_multi_thread[fn], label="multi-threaded", yunit=ms)
plot!(julia_versions, data_single_thread[fn], label="single-threaded", yunit=ms)
end
plot(
plots...,
layout=grid(length(function_names) ÷ 2, 2),
size=(720, 1280),
left_margin=8mm,
# bottom_margin=2mm,
plot_title="Benchmark of RigidBodyDynamics.jl across Julia versions",
plot_titlefontsize=12, # default: 16
guidefontsize=10, # default: 11
legendfontsize=8, # default: 8
tickfontsize=8, # default: 8
titlefontsize=10, # default: 14
)
@ferrolho
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ferrolho commented May 6, 2023 •
edited

These are the results from running

cd ~/git/RigidBodyDynamics.jl/perf
julia --project -O3 --check-bounds=no
include("runbenchmarks.jl")

as of today (May 6, 2023) on a Dell XP 13 9343 (2015) running Ubuntu 22.04 for different versions of Julia.

Here's the output of versioninfo():

julia> versioninfo()
Julia Version 1.8.5
Commit 17cfb8e65e* (2023-01-08 06:45 UTC)
Platform Info:
  OS: macOS (arm64-apple-darwin22.1.0)
  CPU: 8 × Apple M1
  WORD_SIZE: 64
  LIBM: libopenlibm
  LLVM: libLLVM-13.0.1 (ORCJIT, apple-m1)
  Threads: 1 on 4 virtual cores

@ferrolho
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ferrolho commented May 7, 2023

Benchmark of RBD jl across Julia versions

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