CHECK2 script to compare M-file and MEX-file versions of RNE
0001 %CHECK2 script to compare M-file and MEX-file versions of RNE 0002 0003 function check2(robot, n, args) 0004 robot = nofriction(robot, 'coulomb'); 0005 0006 % create random points in state space 0007 q = rand(n, 6); 0008 qd = rand(n, 6); 0009 qdd = rand(n, 6); 0010 0011 % test M-file 0012 tic; 0013 tau = rne(robot, q, qd, qdd, args{:}); 0014 t = toc; 0015 0016 % test MEX-file 0017 tic; 0018 tau_f = frne(robot, q, qd, qdd, args{:}); 0019 t_f = toc; 0020 0021 % print comparative results 0022 fprintf('Speedup is %10.0f, worst case error is %f\n', ... 0023 t/t_f, max(max(abs(tau-tau_f))));