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