Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/bench/benchGeometry.cpp b/bench/benchGeometry.cpp
new file mode 100644
index 0000000..6e16c03
--- /dev/null
+++ b/bench/benchGeometry.cpp
@@ -0,0 +1,134 @@
+#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);
+}
+