From 06a7898da2dd7748831dd10578492aff9829d0f9 Mon Sep 17 00:00:00 2001
From: Viorela Ila <iviorela@gmail.com>
Date: Sat, 24 Oct 2009 14:09:30 +0000
Subject: [PATCH] add the execution time  test

---
 matlab/test_time.m | 93 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 93 insertions(+)
 create mode 100644 matlab/test_time.m

diff --git a/matlab/test_time.m b/matlab/test_time.m
new file mode 100644
index 000000000..47d8e7124
--- /dev/null
+++ b/matlab/test_time.m
@@ -0,0 +1,93 @@
+% Set up a small SLAM example in MATLAB to test the execution time
+
+clear;
+
+%Parameters
+noRuns=100;
+steps=1;
+m = 5;
+velocity=1;
+time_qr=[];
+time_gtsam=[];
+for steps=1:noRuns
+ 
+    %figure(1);clf;
+    % robot moves in the world
+    trajectory = walk([0.1,0.1],velocity,m);
+    mappingArea=max(trajectory,[],2);
+    %plot(trajectory(1,:),trajectory(2,:),'b+'); hold on;
+
+    visibilityTh=sqrt(mappingArea(1)^2+mappingArea(2)^2)/m; %distance between poses
+    % Set up the map
+    map = create_landmarks(visibilityTh, mappingArea,steps);
+    %plot(map(1,:), map(2,:),'g.');
+    %axis([0 mappingArea(1) 0 mappingArea(2)]); axis square;
+    n=size(map,1)*size(map,2);
+    % Check visibility and plot this on the problem figure
+    visibilityTh=visibilityTh+steps;
+    visibility = create_visibility(map, trajectory,visibilityTh);
+    %gplot(visibility,[map trajectory]');
+    
+
+    % simulate the measurements
+    measurement_sigma = 1;
+    odo_sigma = 0.1;
+    [measurements, odometry] = simulate_measurements(map, trajectory, visibility, measurement_sigma, odo_sigma);
+    
+    
+%     % create a configuration of all zeroes
+     config = create_config(n,m);
+
+    % create the factor graph
+    linearFactorGraph = create_linear_factor_graph(config, measurements, odometry, measurement_sigma, odo_sigma, n);
+    % 
+    % create an ordering
+    ord = create_ordering(n,m);
+
+    % show the matrix
+   % figure(3); clf;
+    [A_dense,b] = linearFactorGraph.matrix(ord);
+    A=sparse(A_dense);
+    size(A)
+    %spy(A);
+    %time qr
+    ck=cputime;
+    R_qr = qr(A);
+    time_qr=[time_qr,(cputime-ck)];
+
+    %figure(2)
+    %clf
+    %spy(R_qr);
+    
+    % eliminate with that ordering
+    %time gt_sam
+    ck=cputime;
+    BayesNet = linearFactorGraph.eliminate(ord);
+    time_gtsam=[time_gtsam,(cputime-ck)];
+    
+    clear trajectory visibility linearFactorGraph measurements odometry;
+    m = m+5;
+    velocity=velocity+1;
+    steps=steps+1;
+end
+plot(time_qr,'r');hold on;
+plot(time_gtsam,'b');
+
+
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% % show the eliminated matrix
+% figure(4); clf;
+% [R,d] = BayesNet.matrix();
+% spy(R);
+% 
+% % optimize in the BayesNet
+% optimal = BayesNet.optimize;
+% 
+% % plot the solution
+% figure(5);clf; 
+% plot_config(optimal,n,m);hold on
+% plot(trajectory(1,:),trajectory(2,:),'b+');
+% plot(map(1,:), map(2,:),'g.');
+% axis([0 10 0 10]);axis square;