Update benchmark results

.github/workflows/ci.yml

@@ -1,4 +1,6 @@
 name: CI
+
+# Run on master, tags, or any pull request
 on:
   push:
     branches:
@@ -16,20 +18,30 @@ jobs:
       matrix:
         version:
           - '1.6'
+          - '1.10'
           - '1'
         os:
           - ubuntu-latest
-          - macOS-latest
-          - windows-latest
         arch:
           - x64
+        include:
+          - os: macOS-latest
+            version: 1
+            arch: arm64
+          - os: macOS-latest
+            version: 1
+            arch: x64
+          - os: windows-latest
+            version: 1
+            arch: x64
+
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
+      - uses: actions/cache@v3
         env:
           cache-name: cache-artifacts
           CI: true
@@ -40,23 +52,24 @@ jobs:
             ${{ runner.os }}-test-${{ env.cache-name }}-
             ${{ runner.os }}-test-
             ${{ runner.os }}-
-      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-buildpkg@latest
       - uses: julia-actions/julia-runtest@v1
         env:
           PYTHON: ""
           JULIA_NUM_THREADS: "2"
       - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v1
+      - uses: codecov/codecov-action@v2
         with:
           file: lcov.info
+
   docs:
     name: Documentation
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
         with:
-          version: '1.6'
+          version: '1.10'
       - run: |
           julia --project=docs -e '
             using Pkg

.gitignore

@@ -1,10 +1,27 @@
+# Files generated by invoking Julia with --code-coverage
 *.jl.cov
 *.jl.*.cov
+
+# Files generated by invoking Julia with --track-allocation
 *.jl.mem
+
+# System-specific files and directories generated by the BinaryProvider and BinDeps packages
+# They contain absolute paths specific to the host computer, and so should not be committed
 deps/deps.jl
-*.ipynb_checkpoints
+deps/build.log
+deps/downloads/
+deps/usr/
+deps/src/
+
+# Build artifacts for creating documentation generated by the Documenter package
 docs/build/
 docs/site/
-perf/benchmarkparams.jld
-/Manifest.toml
 
+# File generated by Pkg, the package manager, based on a corresponding Project.toml
+# It records a fixed state of all packages used by the project. As such, it should not be
+# committed for packages, but should be committed for applications that require a static
+# environment.
+Manifest.toml
+
+# Jupyter
+.ipynb_checkpoints/

Project.toml

@@ -1,6 +1,6 @@
 name = "RigidBodyDynamics"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.4.0"
+version = "2.5.0"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
@@ -19,8 +19,8 @@ UnsafeArrays = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
 DocStringExtensions = "0.4.1, 0.5, 0.6, 0.7, 0.8, 0.9"
 LightXML = "0.8, 0.9"
 LoopThrottle = "0.1"
-Reexport = "0.2, 1.0"
-Rotations = "1.1 - 1.2"
+Reexport = "0.2, 1"
+Rotations = "1"
 StaticArrays = "0.8, 0.9, 0.10, 0.11, 0.12, 1"
 TypeSortedCollections = "1"
 UnsafeArrays = "1"

docs/src/benchmarks.md

@@ -1,6 +1,14 @@
 # Benchmarks
 
-To attain maximal performance, it is recommended to pass `-O3`, `--check-bounds=no` as command line flags to `julia`. As of Julia 1.1, maximizing performance for the `dynamics!` algorithm requires either setting the number of BLAS threads to 1 (`using LinearAlgebra; BLAS.set_num_threads(1)`) if using OpenBLAS (the default), or compiling Julia with MKL. See [this issue](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/500) for more information.
+To attain maximal performance, it is recommended to pass `-O3` and `--check-bounds=no` as command line flags to `julia`:
+
+```bash
+cd RigidBodyDynamics.jl
+julia -O3 --check-bounds=no perf/runbenchmarks.jl
+```
+
+> **Warning**
+> For Julia versions previous to `v1.8`, maximizing performance for the `dynamics!` algorithm requires either setting the number of BLAS threads to 1 (`using LinearAlgebra; BLAS.set_num_threads(1)`) if using OpenBLAS (the default), or compiling Julia with MKL. See [this issue](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/500) for more information.
 
 Run `perf/runbenchmarks.jl` to see benchmark results for the Atlas robot (v5). Results below are for the following scenarios:
 
@@ -9,69 +17,62 @@ Run `perf/runbenchmarks.jl` to see benchmark results for the Atlas robot (v5). R
 3. Do inverse dynamics.
 4. Do forward dynamics.
 
-Note that results on CI builds are **not at all** representative because of code coverage. Results on a reasonably fast laptop at commit [870bea6](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/commit/870bea668d5b11ce0555fa0552592d2c3cb15c54):
+> **Note**
+> Results on CI builds are **not at all** representative because of code coverage.
 
-Output of `versioninfo()`:
+Below are the results for **RBD.jl 2.5.0** (commit [`93a5ea`](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/commit/93a5eaf15a5f6714b1ec1ce621b053542dcb721d)) using **Julia 1.11.1** on an **Apple MacBook Air (M2, 2023)** (16GB RAM, 512GB SSD):
 
+Output of `versioninfo()`:
 ```
-Julia Version 1.5.3
-Commit 788b2c77c1 (2020-11-09 13:37 UTC)
+Julia Version 1.11.1
+Commit 8f5b7ca12ad (2024-10-16 10:53 UTC)
+Build Info:
+  Official https://julialang.org/ release
 Platform Info:
-  OS: macOS (x86_64-apple-darwin18.7.0)
-  CPU: Intel(R) Core(TM) i7-8850H CPU @ 2.60GHz
+  OS: macOS (arm64-apple-darwin22.4.0)
+  CPU: 8 × Apple M2
   WORD_SIZE: 64
-  LIBM: libopenlibm
-  LLVM: libLLVM-9.0.1 (ORCJIT, skylake)
+  LLVM: libLLVM-16.0.6 (ORCJIT, apple-m2)
+Threads: 1 default, 0 interactive, 1 GC (on 4 virtual cores)
 ```
 
-Note that this is a different machine than the one that was used for earlier benchmarks.
-
-Mass matrix:
+> **Note**
+> This is a different machine than the one that was used for earlier benchmarks.
 
+Mass matrix ([`mass_matrix!`](@ref)):
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     4.415 μs (0.00% GC)
-  median time:      4.579 μs (0.00% GC)
-  mean time:        4.916 μs (0.00% GC)
-  maximum time:     19.794 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  3.728 μs …  10.024 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     3.874 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   3.903 μs ± 180.208 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
-Mass matrix and Jacobian from left hand to right foot:
-
+Mass matrix ([`mass_matrix!`](@ref)) and Jacobian ([`geometric_jacobian!`](@ref)) from left hand to right foot:
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     4.860 μs (0.00% GC)
-  median time:      4.982 μs (0.00% GC)
-  mean time:        5.399 μs (0.00% GC)
-  maximum time:     24.712 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  3.941 μs …   9.020 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     4.103 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   4.135 μs ± 196.842 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
 Note the low additional cost of computing a Jacobian when the mass matrix is already computed. This is because RigidBodyDynamics.jl caches intermediate computation results.
 
-Inverse dynamics:
-
+Inverse dynamics ([`inverse_dynamics!`](@ref)):
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     4.256 μs (0.00% GC)
-  median time:      4.541 μs (0.00% GC)
-  mean time:        4.831 μs (0.00% GC)
-  maximum time:     21.625 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  2.736 μs …   5.666 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     2.866 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   2.882 μs ± 119.781 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
-Forward dynamics:
-
+Forward dynamics ([`dynamics!`](@ref)):
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     13.600 μs (0.00% GC)
-  median time:      14.419 μs (0.00% GC)
-  mean time:        16.071 μs (0.00% GC)
-  maximum time:     55.328 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  9.791 μs …  13.899 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     9.874 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   9.942 μs ± 292.126 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```