Specialize Base.isequal

[YingboMa]

Fix JuliaSymbolics/Symbolics.jl#129

using MeshCat
using ModelingToolkit
using TORA
using RigidBodyDynamics
using Symbolics
import SymPy

function setup(vis, n_dof, sympy=false)
    robot = create_robot_kuka_iiwa_14(vis)
    x = MechanismState{sympy ? SymPy.Sym : Num}(robot.mechanism)
    q = configuration(x)
    if sympy
        for i in 1:n_dof
            q[i] = SymPy.symbols("q_$i", real = true)
        end
    else
        for i in 1:n_dof
            q[i] = Num(Sym{Real}(Symbol("q$i")))
        end
    end
    return x
end
vis = Visualizer()

Symbolics:

julia> x = setup(vis, 3); @time M = mass_matrix(x);
  3.721925 seconds (7.73 M allocations: 462.482 MiB, 2.41% gc time, 99.20% compilation time)

julia> for n in 3:7; x = setup(vis, n); @time M = mass_matrix(x); end
  0.006976 seconds (79.61 k allocations: 3.028 MiB)
  0.007024 seconds (80.71 k allocations: 3.072 MiB)
  0.007367 seconds (81.56 k allocations: 3.106 MiB)
  0.007341 seconds (82.07 k allocations: 3.131 MiB)
  0.007315 seconds (82.66 k allocations: 3.157 MiB)

SymPy:

julia> x = setup(vis, 3, true); @time M = mass_matrix(x);
 16.333147 seconds (31.71 M allocations: 1.870 GiB, 2.18% gc time)

julia> for n in 3:7; x = setup(vis, n, true); @time M = mass_matrix(x); end
  2.899745 seconds (78.61 k allocations: 2.414 MiB)
  4.737822 seconds (78.61 k allocations: 2.414 MiB)
  9.462235 seconds (78.61 k allocations: 2.414 MiB)
 16.858959 seconds (78.61 k allocations: 2.414 MiB)
 17.311054 seconds (78.61 k allocations: 2.414 MiB)

[codecov-io]

Codecov Report

Merging #254 (525d38e) into master (142ea18) will increase coverage by 0.10%.
The diff coverage is 93.75%.

@@            Coverage Diff             @@
##           master     #254      +/-   ##
==========================================
+ Coverage   86.28%   86.38%   +0.10%     
==========================================
  Files          11       11              
  Lines        1108     1124      +16     
==========================================
+ Hits          956      971      +15     
- Misses        152      153       +1     

Impacted Files	Coverage Δ
src/types.jl	88.91% <93.75%> (+0.19%)	⬆️

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[YingboMa]

Test failures are due to some functions break the invariance of the canonical form.

julia> SymbolicUtils.arguments(f(x1 + 2.0))[1] |> typeof
SymbolicUtils.Add{Real, Float64, Dict{Any, Number}, Nothing}

julia> SymbolicUtils.arguments(polynormalize(f(x1 + 2.0)))[1] |> typeof

Term{Real, Nothing}

[baggepinnen]

Cool!
A further benchmark could be @time simplify(M[1,1])