updated geometry benchmark to handle additional cases
diff --git a/bench/benchGeometry.cpp b/bench/benchGeometry.cpp
index 270b67b..7a532a8 100644
--- a/bench/benchGeometry.cpp
+++ b/bench/benchGeometry.cpp
@@ -1,8 +1,11 @@
#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
@@ -11,7 +14,8 @@
enum func_opt
{
TV,
- TMATRIXV
+ TMATV,
+ TMATVMAT,
};
@@ -29,7 +33,7 @@
};
template <class res, class arg1, class arg2>
-struct func<res, arg1, arg2, TMATRIXV>
+struct func<res, arg1, arg2, TMATV>
{
static __attribute__ ((noinline)) res run( arg1& a1, arg2& a2 )
{
@@ -38,6 +42,15 @@
}
};
+template <class res, class arg1, class arg2>
+struct func<res, arg1, arg2, TMATVMAT>
+{
+ static __attribute__ ((noinline)) res run( arg1& a1, arg2& a2 )
+ {
+ asm ("");
+ return res(a1.matrix() * a2.matrix());
+ }
+};
template <class func, class arg1, class arg2>
struct test_transform
@@ -58,13 +71,13 @@
a2 = func::run( a1, a2 );
timer.stop();
}
- std::cout << timer.value() << "s " << (double(REPEAT)/timer.value())/(1024.*1024.*1024.) << " GFlops\n";
+ cout << setprecision(4) << fixed << timer.value() << "s " << endl;;
}
};
-#define run_test( op, scalar, mode, option, vsize ) \
- std::cout << #op << " " << #scalar << " " << #mode << " " << #option << " " << #vsize " "; \
+#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;\
@@ -72,13 +85,50 @@
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[])
{
- 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);
+ 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);
- run_test(TMATRIXV, float, Isometry, AutoAlign, 4);
- run_test(TMATRIXV, float, Isometry, 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);
}
+