1 #include <iostream>
2 #include <Eigen/Core>
3 #include <Eigen/Geometry>
4 #include <bench/BenchTimer.h>
5
6 using namespace Eigen;
7
8 template<typename Quat>
quatmul_default(const Quat & a,const Quat & b,Quat & c)9 EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c)
10 {
11 c = a * b;
12 }
13
14 template<typename Quat>
quatmul_novec(const Quat & a,const Quat & b,Quat & c)15 EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c)
16 {
17 c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b);
18 }
19
bench(const std::string & label)20 template<typename Quat> void bench(const std::string& label)
21 {
22 int tries = 10;
23 int rep = 1000000;
24 BenchTimer t;
25
26 Quat a(4, 1, 2, 3);
27 Quat b(2, 3, 4, 5);
28 Quat c;
29
30 std::cout.precision(3);
31
32 BENCH(t, tries, rep, quatmul_default(a,b,c));
33 std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
34
35 BENCH(t, tries, rep, quatmul_novec(a,b,c));
36 std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
37 }
38
main()39 int main()
40 {
41 bench<Quaternionf>("float ");
42 bench<Quaterniond>("double");
43
44 return 0;
45
46 }
47
48