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Added planar graph to timing script

release/4.3a0
Frank Dellaert 2010-01-16 04:46:35 +00:00
parent eef8445ebd
commit 26246188af
2 changed files with 35 additions and 16 deletions
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22
cpp/Makefile.am
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@ -125,15 +125,6 @@ testBayesNetPreconditioner_LDADD = libgtsam.la
testSubgraphPreconditioner_SOURCES = $(example) testSubgraphPreconditioner.cpp
testSubgraphPreconditioner_LDADD = libgtsam.la
# the timing tests below are broken for now.
#noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph
#timeGaussianFactor_SOURCES = timeGaussianFactor.cpp
#timeGaussianFactorGraph_SOURCES = timeGaussianFactorGraph.cpp
#timeGaussianFactor_LDADD = libgtsam.la
#timeGaussianFactorGraph_LDADD = libgtsam.la
# Nonlinear inference
headers += Key.h NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h
@ -184,10 +175,6 @@ testCal3_S2_LDADD = libgtsam.la
testLieConfig_LDADD = libgtsam.la
testTupleConfig_LDADD = libgtsam.la
noinst_PROGRAMS = timeRot3
timeRot3_SOURCES = timeRot3.cpp
timeRot3_LDADD = libgtsam.la
# simulated2D example
sources += simulated2D.cpp
testSimulated2D_SOURCES = testSimulated2D.cpp
@ -253,6 +240,15 @@ testVSLAMConfig_LDADD = libgtsam.la
headers += smallExample.h
headers += $(sources:.cpp=.h)
# Timing tests
noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph timeRot3
timeRot3_SOURCES = timeRot3.cpp
timeRot3_LDADD = libgtsam.la
timeGaussianFactor_SOURCES = timeGaussianFactor.cpp
timeGaussianFactor_LDADD = $(example) libgtsam.la
timeGaussianFactorGraph_SOURCES = timeGaussianFactorGraph.cpp
timeGaussianFactorGraph_LDADD = $(example) libgtsam.la
# create both dynamic and static libraries
AM_CXXFLAGS = -I$(boost) -fPIC
lib_LTLIBRARIES = libgtsam.la

29
cpp/timeGaussianFactorGraph.cpp
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@ -25,13 +25,36 @@ double timeKalmanSmoother(int T) {
return dif;
}
/* ************************************************************************* */
// Create a planar factor graph and optimize
double timePlanarSmoother(int N) {
GaussianFactorGraph fg;
VectorConfig config;
boost::tie(fg,config) = planarGraph(N);
Ordering ordering = fg.getOrdering();
clock_t start = clock();
fg.optimize(ordering);
clock_t end = clock ();
double dif = (double)(end - start) / CLOCKS_PER_SEC;
return dif;
}
/* ************************************************************************* */
TEST(timeGaussianFactorGraph, linearTime)
{
int T = 1000;
double time1 = timeKalmanSmoother( T); // cout << time1 << endl;
double time2 = timeKalmanSmoother(2*T); // cout << time2 << endl;
DOUBLES_EQUAL(2*time1,time2,0.001);
double time1 = timeKalmanSmoother( T); cout << time1 << endl;
double time2 = timeKalmanSmoother(2*T); cout << time2 << endl;
DOUBLES_EQUAL(2*time1,time2,0.1);
}
/* ************************************************************************* */
TEST(timeGaussianFactorGraph, planar)
{
// 1740: 8.12, 8.12, 8.12, 8.16, 8.14
int N = 30;
double time = timePlanarSmoother(N); cout << time << endl;
DOUBLES_EQUAL(8.12,time,0.1);
}
/* ************************************************************************* */