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/quatmul.cpp b/bench/quatmul.cpp
new file mode 100644
index 0000000..8d9d792
--- /dev/null
+++ b/bench/quatmul.cpp
@@ -0,0 +1,47 @@
+#include <iostream>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <bench/BenchTimer.h>
+
+using namespace Eigen;
+
+template<typename Quat>
+EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c)
+{
+ c = a * b;
+}
+
+template<typename Quat>
+EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c)
+{
+ c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b);
+}
+
+template<typename Quat> void bench(const std::string& label)
+{
+ int tries = 10;
+ int rep = 1000000;
+ BenchTimer t;
+
+ Quat a(4, 1, 2, 3);
+ Quat b(2, 3, 4, 5);
+ Quat c;
+
+ std::cout.precision(3);
+
+ BENCH(t, tries, rep, quatmul_default(a,b,c));
+ std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
+
+ BENCH(t, tries, rep, quatmul_novec(a,b,c));
+ std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
+}
+
+int main()
+{
+ bench<Quaternionf>("float ");
+ bench<Quaterniond>("double");
+
+ return 0;
+
+}
+