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134 lines
3.5 KiB
134 lines
3.5 KiB
#include <iostream>
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#include <iomanip>
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#include <bench/BenchTimer.h>
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using namespace Eigen;
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using namespace std;
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#ifndef REPEAT
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#define REPEAT 1000000
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#endif
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enum func_opt
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{
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TV,
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TMATV,
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TMATVMAT,
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};
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template <class res, class arg1, class arg2, int opt>
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struct func;
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template <class res, class arg1, class arg2>
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struct func<res, arg1, arg2, TV>
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{
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static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
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{
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asm ("");
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return a1 * a2;
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}
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};
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template <class res, class arg1, class arg2>
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struct func<res, arg1, arg2, TMATV>
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{
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static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
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{
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asm ("");
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return a1.matrix() * a2;
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}
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};
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template <class res, class arg1, class arg2>
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struct func<res, arg1, arg2, TMATVMAT>
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{
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static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
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{
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asm ("");
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return res(a1.matrix() * a2.matrix());
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}
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};
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template <class func, class arg1, class arg2>
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struct test_transform
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{
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static void run()
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{
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arg1 a1;
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a1.setIdentity();
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arg2 a2;
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a2.setIdentity();
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BenchTimer timer;
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timer.reset();
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for (int k=0; k<10; ++k)
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{
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timer.start();
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for (int k=0; k<REPEAT; ++k)
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a2 = func::run( a1, a2 );
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timer.stop();
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}
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cout << setprecision(4) << fixed << timer.value() << "s " << endl;;
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}
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};
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#define run_vec( op, scalar, mode, option, vsize ) \
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std::cout << #scalar << "\t " << #mode << "\t " << #option << " " << #vsize " "; \
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{\
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typedef Transform<scalar, 3, mode, option> Trans;\
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typedef Matrix<scalar, vsize, 1, option> Vec;\
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typedef func<Vec,Trans,Vec,op> Func;\
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test_transform< Func, Trans, Vec >::run();\
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}
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#define run_trans( op, scalar, mode, option ) \
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std::cout << #scalar << "\t " << #mode << "\t " << #option << " "; \
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{\
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typedef Transform<scalar, 3, mode, option> Trans;\
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typedef func<Trans,Trans,Trans,op> Func;\
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test_transform< Func, Trans, Trans >::run();\
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}
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int main(int argc, char* argv[])
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{
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cout << "vec = trans * vec" << endl;
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run_vec(TV, float, Isometry, AutoAlign, 3);
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run_vec(TV, float, Isometry, DontAlign, 3);
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run_vec(TV, float, Isometry, AutoAlign, 4);
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run_vec(TV, float, Isometry, DontAlign, 4);
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run_vec(TV, float, Projective, AutoAlign, 4);
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run_vec(TV, float, Projective, DontAlign, 4);
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run_vec(TV, double, Isometry, AutoAlign, 3);
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run_vec(TV, double, Isometry, DontAlign, 3);
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run_vec(TV, double, Isometry, AutoAlign, 4);
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run_vec(TV, double, Isometry, DontAlign, 4);
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run_vec(TV, double, Projective, AutoAlign, 4);
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run_vec(TV, double, Projective, DontAlign, 4);
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cout << "vec = trans.matrix() * vec" << endl;
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run_vec(TMATV, float, Isometry, AutoAlign, 4);
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run_vec(TMATV, float, Isometry, DontAlign, 4);
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run_vec(TMATV, double, Isometry, AutoAlign, 4);
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run_vec(TMATV, double, Isometry, DontAlign, 4);
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cout << "trans = trans1 * trans" << endl;
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run_trans(TV, float, Isometry, AutoAlign);
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run_trans(TV, float, Isometry, DontAlign);
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run_trans(TV, double, Isometry, AutoAlign);
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run_trans(TV, double, Isometry, DontAlign);
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run_trans(TV, float, Projective, AutoAlign);
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run_trans(TV, float, Projective, DontAlign);
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run_trans(TV, double, Projective, AutoAlign);
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run_trans(TV, double, Projective, DontAlign);
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cout << "trans = trans1.matrix() * trans.matrix()" << endl;
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run_trans(TMATVMAT, float, Isometry, AutoAlign);
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run_trans(TMATVMAT, float, Isometry, DontAlign);
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run_trans(TMATVMAT, double, Isometry, AutoAlign);
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run_trans(TMATVMAT, double, Isometry, DontAlign);
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}
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