benchmarks Directory Reference

Directory dependency graph for benchmarks:

Files
	rtp_vs_kdl_benchmarks.cpp
	Benchmark comparing RTPInvKin (OPW + 1-DOF tool positioner) against the three KDLInvKinChain{NR_JL, NR, LMA} solvers on the same 7-DOF ABB IRB2400 + tool positioner fixture. Reports per-call wall time plus solution-count / success counters. Note: the solvers produce fundamentally different solution sets (RTP enumerates, KDL returns at most one), so compare time-to-first-solution, not total work. KDLInvKinChainNR and KDLInvKinChainLMA do not enforce joint limits and may converge to out-of-limits configurations.