1 #include <iostream>
2 #include <iomanip>
3 #include <Eigen/Core>
4 #include <Eigen/Geometry>
5 #include <bench/BenchTimer.h>
6
7 using namespace Eigen;
8 using namespace std;
9
10 #ifndef REPEAT
11 #define REPEAT 1000000
12 #endif
13
14 enum func_opt
15 {
16 TV,
17 TMATV,
18 TMATVMAT,
19 };
20
21
22 template <class res, class arg1, class arg2, int opt>
23 struct func;
24
25 template <class res, class arg1, class arg2>
26 struct func<res, arg1, arg2, TV>
27 {
runfunc28 static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
29 {
30 asm ("");
31 return a1 * a2;
32 }
33 };
34
35 template <class res, class arg1, class arg2>
36 struct func<res, arg1, arg2, TMATV>
37 {
runfunc38 static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
39 {
40 asm ("");
41 return a1.matrix() * a2;
42 }
43 };
44
45 template <class res, class arg1, class arg2>
46 struct func<res, arg1, arg2, TMATVMAT>
47 {
runfunc48 static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
49 {
50 asm ("");
51 return res(a1.matrix() * a2.matrix());
52 }
53 };
54
55 template <class func, class arg1, class arg2>
56 struct test_transform
57 {
runtest_transform58 static void run()
59 {
60 arg1 a1;
61 a1.setIdentity();
62 arg2 a2;
63 a2.setIdentity();
64
65 BenchTimer timer;
66 timer.reset();
67 for (int k=0; k<10; ++k)
68 {
69 timer.start();
70 for (int k=0; k<REPEAT; ++k)
71 a2 = func::run( a1, a2 );
72 timer.stop();
73 }
74 cout << setprecision(4) << fixed << timer.value() << "s " << endl;;
75 }
76 };
77
78
79 #define run_vec( op, scalar, mode, option, vsize ) \
80 std::cout << #scalar << "\t " << #mode << "\t " << #option << " " << #vsize " "; \
81 {\
82 typedef Transform<scalar, 3, mode, option> Trans;\
83 typedef Matrix<scalar, vsize, 1, option> Vec;\
84 typedef func<Vec,Trans,Vec,op> Func;\
85 test_transform< Func, Trans, Vec >::run();\
86 }
87
88 #define run_trans( op, scalar, mode, option ) \
89 std::cout << #scalar << "\t " << #mode << "\t " << #option << " "; \
90 {\
91 typedef Transform<scalar, 3, mode, option> Trans;\
92 typedef func<Trans,Trans,Trans,op> Func;\
93 test_transform< Func, Trans, Trans >::run();\
94 }
95
main(int argc,char * argv[])96 int main(int argc, char* argv[])
97 {
98 cout << "vec = trans * vec" << endl;
99 run_vec(TV, float, Isometry, AutoAlign, 3);
100 run_vec(TV, float, Isometry, DontAlign, 3);
101 run_vec(TV, float, Isometry, AutoAlign, 4);
102 run_vec(TV, float, Isometry, DontAlign, 4);
103 run_vec(TV, float, Projective, AutoAlign, 4);
104 run_vec(TV, float, Projective, DontAlign, 4);
105 run_vec(TV, double, Isometry, AutoAlign, 3);
106 run_vec(TV, double, Isometry, DontAlign, 3);
107 run_vec(TV, double, Isometry, AutoAlign, 4);
108 run_vec(TV, double, Isometry, DontAlign, 4);
109 run_vec(TV, double, Projective, AutoAlign, 4);
110 run_vec(TV, double, Projective, DontAlign, 4);
111
112 cout << "vec = trans.matrix() * vec" << endl;
113 run_vec(TMATV, float, Isometry, AutoAlign, 4);
114 run_vec(TMATV, float, Isometry, DontAlign, 4);
115 run_vec(TMATV, double, Isometry, AutoAlign, 4);
116 run_vec(TMATV, double, Isometry, DontAlign, 4);
117
118 cout << "trans = trans1 * trans" << endl;
119 run_trans(TV, float, Isometry, AutoAlign);
120 run_trans(TV, float, Isometry, DontAlign);
121 run_trans(TV, double, Isometry, AutoAlign);
122 run_trans(TV, double, Isometry, DontAlign);
123 run_trans(TV, float, Projective, AutoAlign);
124 run_trans(TV, float, Projective, DontAlign);
125 run_trans(TV, double, Projective, AutoAlign);
126 run_trans(TV, double, Projective, DontAlign);
127
128 cout << "trans = trans1.matrix() * trans.matrix()" << endl;
129 run_trans(TMATVMAT, float, Isometry, AutoAlign);
130 run_trans(TMATVMAT, float, Isometry, DontAlign);
131 run_trans(TMATVMAT, double, Isometry, AutoAlign);
132 run_trans(TMATVMAT, double, Isometry, DontAlign);
133 }
134
135