diff --git a/src/examples/test_matrix_prod.cpp b/src/examples/test_matrix_prod.cpp
index 40b4b6969f4febf216c9a7eb603d0c0c116b9ce7..777483084a6d0b7c5dd6d47b9b0883a38fc37781 100644
--- a/src/examples/test_matrix_prod.cpp
+++ b/src/examples/test_matrix_prod.cpp
@@ -10,6 +10,50 @@
//std includes
#include <ctime>
#include <iostream>
+#include <iomanip>
+
+#define INIT_ALL\
+ R1.setRandom(s, s);\
+ R2.setRandom(s, s);\
+ C1.setRandom(s, s);\
+ C2.setRandom(s, s);
+
+
+#define LOOP(N,Mo,M1,M2) \
+ for (int i = 0; i < N; i++) \
+ { \
+ Mo = M1 * M2; \
+ M1(2,2) += 0.000001; \
+ M2(0,0) *= 1.000001; \
+ /*M2 = Mo; */\
+ }
+
+#define EVALUATE(N,Mo,M1,M2) \
+ t0 = clock(); \
+ LOOP(N,Mo,M1,M2) \
+ t1 = clock(); \
+ std::cout << std::setw(15) << Mo(2,2) << "\t";
+
+#define EVALUATE_ALL \
+ EVALUATE(N, Ro, R1, R2)\
+ std::cout << "Time Ro = R * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Ro, R1, C2)\
+ std::cout << "Time Ro = R * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Ro, C1, R2)\
+ std::cout << "Time Ro = C * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Ro, C1, C2)\
+ std::cout << "Time Ro = C * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Co, R1, R2)\
+ std::cout << "Time Co = R * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Co, R1, C2)\
+ std::cout << "Time Co = R * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Co, C1, R2)\
+ std::cout << "Time Co = C * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
+ EVALUATE(N, Co, C1, C2)\
+ std::cout << "Time Co = C * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N \
+ << "us <-- this is the Eigen default!" << std::endl;
+
+
/**
* We multiply matrices and see how long it takes.
@@ -20,10 +64,10 @@ int main()
{
using namespace Eigen;
- int N = 1000000;
+ int N = 100000;
const int S = 6;
Matrix<double, 16, S - 3 + 1> results;
- clock_t t0;
+ clock_t t0, t1;
{
Matrix<double, Dynamic, Dynamic, RowMajor> R1, R2, Ro;
@@ -31,152 +75,24 @@ int main()
for (int s = 3; s <= S; s++)
{
-
- R1.setRandom(s, s);
- R2.setRandom(s, s);
- C1.setRandom(s, s);
- C2.setRandom(s, s);
-
std::cout << "Timings for dynamic matrix product. R: row major matrix. C: column major matrix. " << s << "x"
<< s << " matrices." << std::endl;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
+ INIT_ALL
+ EVALUATE_ALL
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
- << "us <-- this is the Eigen default!" << std::endl;
}
}
- N *= 10;
+// N *= 1000;
{
const int s = 3;
std::cout << "Timings for static matrix product. R: row major matrix. C: column major matrix. " << s << "x" << s
<< " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
- << "us <-- this is the Eigen default!" << std::endl;
+ INIT_ALL
+ EVALUATE_ALL
}
{
const int s = 4;
@@ -184,141 +100,20 @@ int main()
<< " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
- << "us <-- this is the Eigen default!" << std::endl;
+ INIT_ALL
+ EVALUATE_ALL
}
+// N /= 100000;
{
const int s = 5;
std::cout << "Timings for static matrix product. R: row major matrix. C: column major matrix. " << s << "x" << s
<< " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
- << "us <-- this is the Eigen default!" << std::endl;
+ INIT_ALL
+ EVALUATE_ALL
}
{
const int s = 6;
@@ -326,97 +121,34 @@ int main()
<< " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = R1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * R2;
- R2.setRandom();
- }
- std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Ro = C1 * C2;
- C2.setRandom();
- }
- std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = R1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * R2;
- R2.setRandom();
- }
- std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
- t0 = clock();
- for (int i = 0; i < N; i++)
- {
- Co = C1 * C2;
- C2.setRandom();
- }
- std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
- << "us <-- this is the Eigen default!" << std::endl;
+ INIT_ALL
+ EVALUATE_ALL
}
std::cout << "Test q and R rotations" << std::endl;
Eigen::Quaterniond q(Eigen::Vector4d::Random().normalized());
Eigen::Matrix3d R = q.matrix();
- Eigen::Vector3d v((Eigen::Vector3d() << 1, 2, 3).finished());
- Eigen::Vector3d w;
+ Eigen::Vector3d v; v << 1,2,3; double vn = v.norm();
- N *= 10;
+ N *= 100;
t0 = clock();
for (int i = 0; i < N; i++)
{
- w = R * v;
- v.setRandom();
+ v = R * v;
}
-
- std::cout << "Time w = R * v: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
+ t1 = clock();
+ std::cout << "Time w = R * v: " << (double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
- w = q * v;
- v.setRandom();
+ v = q * v;
}
- std::cout << "Time w = q * v: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
-
+ t1 = clock();
+ std::cout << "Time w = q * v: " << (double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;
+ std::cout << "v norm change: " << 10*log((long double)v.norm()/(long double)vn) << " dB" << std::endl;
return 0;
}