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#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <bench/BenchTimer.h>
using namespace Eigen;
#ifndef REPEAT
#define REPEAT 1000000
#endif
enum func_opt
{
TV,
TMATRIXV
};
template <class res, class arg1, class arg2, int opt>
struct func;
template <class res, class arg1, class arg2>
struct func<res, arg1, arg2, TV>
{
static __attribute__ ((noinline)) res run( arg1& a1, arg2& a2 )
{
asm ("");
return a1 * a2;
}
};
template <class res, class arg1, class arg2>
struct func<res, arg1, arg2, TMATRIXV>
{
static __attribute__ ((noinline)) res run( arg1& a1, arg2& a2 )
{
asm ("");
return a1.matrix() * a2;
}
};
template <class func, class arg1, class arg2>
struct test_transform
{
static void run()
{
arg1 a1;
a1.setIdentity();
arg2 a2;
a2.setIdentity();
BenchTimer timer;
timer.reset();
for (int k=0; k<10; ++k)
{
timer.start();
for (int k=0; k<REPEAT; ++k)
a2 = func::run( a1, a2 );
timer.stop();
}
std::cout << timer.value() << "s " << (double(REPEAT)/timer.value())/(1024.*1024.*1024.) << " GFlops\n";
}
};
#define run_test( op, scalar, mode, option, vsize ) \
std::cout << #op << " " << #scalar << " " << #mode << " " << #option << " " << #vsize " "; \
{\
typedef Transform<scalar, 3, mode, option> Trans;\
typedef Matrix<scalar, vsize, 1, option> Vec;\
typedef func<Vec,Trans,Vec,op> Func;\
test_transform< Func, Trans, Vec >::run();\
}
int main(int argc, char* argv[])
{
run_test(TV, float, Isometry, AutoAlign, 3);
run_test(TV, float, Isometry, DontAlign, 3);
run_test(TV, float, Isometry, AutoAlign, 4);
run_test(TV, float, Isometry, DontAlign, 4);
run_test(TMATRIXV, float, Isometry, AutoAlign, 4);
run_test(TMATRIXV, float, Isometry, DontAlign, 4);
}
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