Table 2 Execution times
From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations
Test environment | Execution time per iteration (ms) | Speedup wrt. OpenSim |
|---|---|---|
OpenSim | 145.0532 ± 10.0669 | 1x |
MATLAB | 2.3656 ± 0.6689 | 61x |
PC double | 0.0111 ± 0.0013 | 13011x |
PC float | 0.0088 ± 0.0008 | 16416x |
PC float mod. | 0.0097 ± 0.0013 | 14982x |
ARM M4 double | 4.8777 ± 0.3554 | 30x |
ARM M4 soft float | 2.7327 ± 0.0928 | 53x |
ARM M4 hard float | 0.9713 ± 0.0214 | 149x |
ARM M4 soft float mod. | 2.7394 ± 0.0930 | 53x |
ARM M4 hard float mod. | 0.9740 ± 0.0216 | 149x |
ARM M7 double | 2.3124 ± 0.1704 | 63x |
ARM M7 soft float | 1.4293 ± 0.0504 | 101x |
ARM M7 hard float | 0.4462 ± 0.0117 | 325x |
ARM M7 soft float mod. | 1.4296 ± 0.0505 | 101x |
ARM M7 hard float mod. | 0.4478 ± 0.0115 | 324x |