Class MujocoHumanoidFixture

benchmark/mujoco-humanoid.cpp:84–117

}

struct MujocoHumanoidFixture : benchmark::Fixture
{
  void SetUp(benchmark::State &)
  {
    ModelHandle model_handle = std::make_shared<Model>();
    GeometryModelHandle geom_model_handle = std::make_shared<GeometryModel>();
    Model & model = ::pinocchio::helper::get_ref(model_handle);
    GeometryModel & geom_model = ::pinocchio::helper::get_ref(geom_model_handle);

    const bool verbose = false;
    ::pinocchio::mjcf::buildModel(SIMPLE_TEST_DATA_DIR "/mujoco_humanoid.xml", model, verbose);
    ::pinocchio::mjcf::buildGeom(model, SIMPLE_TEST_DATA_DIR "/mujoco_humanoid.xml", pinocchio::COLLISION, geom_model);
    addFloorToGeomModel(geom_model);

    // initial state
    q0 = model.referenceConfigurations["qpos0"];
    v0 = Eigen::VectorXd::Zero(model.nv);
    zero_torque = Eigen::VectorXd::Zero(model.nv);

    // add collision pairs
    addSystemCollisionPairs(model, geom_model, q0);

    sim = std::make_unique<Simulator>(model_handle, geom_model_handle);
  }

  void TearDown(benchmark::State &)
  {
  }

  std::unique_ptr<Simulator> sim;
  Eigen::VectorXd q0;
  Eigen::VectorXd v0;
  Eigen::VectorXd zero_torque;
};

BENCHMARK_DEFINE_F(MujocoHumanoidFixture, admm)(benchmark::State & st)
{