Get rid of unreliable timing
Frank Dellaert
parent
5aa5222edb
commit
4c7d3b5a50
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@ -20,12 +20,9 @@
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#include <gtsam/discrete/DiscreteKey.h> // make sure we have traits
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#include <gtsam/discrete/DiscreteValues.h>
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// headers first to make sure no missing headers
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/discrete/AlgebraicDecisionTree.h>
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#include <gtsam/discrete/DecisionTree-inl.h> // for convert only
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#define DISABLE_TIMING
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/timing.h>
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#include <gtsam/discrete/Signature.h>
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using namespace std;
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@ -71,16 +68,14 @@ void dot(const T& f, const string& filename) {
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// instrumented operators
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/* ************************************************************************** */
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size_t muls = 0, adds = 0;
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double elapsed;
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void resetCounts() {
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muls = 0;
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adds = 0;
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}
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void printCounts(const string& s) {
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#ifndef DISABLE_TIMING
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cout << s << ": " << std::setw(3) << muls << " muls, " <<
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std::setw(3) << adds << " adds, " << 1000 * elapsed << " ms."
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<< endl;
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cout << s << ": " << std::setw(3) << muls << " muls, " << std::setw(3) << adds
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<< " adds" << endl;
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#endif
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resetCounts();
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}
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@ -131,7 +126,8 @@ ADT create(const Signature& signature) {
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static size_t count = 0;
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const DiscreteKey& key = signature.key();
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std::stringstream ss;
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ss << "CPT-" << std::setw(3) << std::setfill('0') << ++count << "-" << key.first;
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ss << "CPT-" << std::setw(3) << std::setfill('0') << ++count << "-"
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<< key.first;
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string DOTfile = ss.str();
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dot(p, DOTfile);
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return p;
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@ -143,8 +139,6 @@ TEST(ADT, joint) {
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DiscreteKey A(0, 2), S(1, 2), T(2, 2), L(3, 2), B(4, 2), E(5, 2), X(6, 2),
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D(7, 2);
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resetCounts();
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gttic_(asiaCPTs);
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ADT pA = create(A % "99/1");
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ADT pS = create(S % "50/50");
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ADT pT = create(T | A = "99/1 95/5");
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@ -153,15 +147,9 @@ TEST(ADT, joint) {
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ADT pE = create((E | T, L) = "F T T T");
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ADT pX = create(X | E = "95/5 2/98");
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ADT pD = create((D | E, B) = "9/1 2/8 3/7 1/9");
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gttoc_(asiaCPTs);
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tictoc_getNode(asiaCPTsNode, asiaCPTs);
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elapsed = asiaCPTsNode->secs() + asiaCPTsNode->wall();
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tictoc_reset_();
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printCounts("Asia CPTs");
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// Create joint
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resetCounts();
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gttic_(asiaJoint);
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ADT joint = pA;
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dot(joint, "Asia-A");
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joint = apply(joint, pS, &mul);
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@ -183,10 +171,6 @@ TEST(ADT, joint) {
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#else
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EXPECT_LONGS_EQUAL(508, muls);
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#endif
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gttoc_(asiaJoint);
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tictoc_getNode(asiaJointNode, asiaJoint);
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elapsed = asiaJointNode->secs() + asiaJointNode->wall();
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tictoc_reset_();
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printCounts("Asia joint");
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// Form P(A,S,T,L) = P(A) P(S) P(T|A) P(L|S)
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@ -208,8 +192,6 @@ TEST(ADT, inference) {
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DiscreteKey A(0, 2), D(1, 2), //
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B(2, 2), L(3, 2), E(4, 2), S(5, 2), T(6, 2), X(7, 2);
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resetCounts();
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gttic_(infCPTs);
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ADT pA = create(A % "99/1");
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ADT pS = create(S % "50/50");
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ADT pT = create(T | A = "99/1 95/5");
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@ -218,15 +200,9 @@ TEST(ADT, inference) {
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ADT pE = create((E | T, L) = "F T T T");
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ADT pX = create(X | E = "95/5 2/98");
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ADT pD = create((D | E, B) = "9/1 2/8 3/7 1/9");
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gttoc_(infCPTs);
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tictoc_getNode(infCPTsNode, infCPTs);
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elapsed = infCPTsNode->secs() + infCPTsNode->wall();
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tictoc_reset_();
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// printCounts("Inference CPTs");
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// Create joint
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// Create joint, note different ordering than above: different tree!
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resetCounts();
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gttic_(asiaProd);
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ADT joint = pA;
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dot(joint, "Joint-Product-A");
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joint = apply(joint, pS, &mul);
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@ -248,14 +224,9 @@ TEST(ADT, inference) {
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#else
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EXPECT_LONGS_EQUAL(508, (long)muls); // different ordering
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#endif
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gttoc_(asiaProd);
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tictoc_getNode(asiaProdNode, asiaProd);
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elapsed = asiaProdNode->secs() + asiaProdNode->wall();
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tictoc_reset_();
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printCounts("Asia product");
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resetCounts();
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gttic_(asiaSum);
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ADT marginal = joint;
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marginal = marginal.combine(X, &add_);
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dot(marginal, "Joint-Sum-ADBLEST");
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@ -270,10 +241,6 @@ TEST(ADT, inference) {
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#else
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EXPECT_LONGS_EQUAL(240, (long)adds);
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#endif
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gttoc_(asiaSum);
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tictoc_getNode(asiaSumNode, asiaSum);
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elapsed = asiaSumNode->secs() + asiaSumNode->wall();
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tictoc_reset_();
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printCounts("Asia sum");
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}
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@ -282,7 +249,6 @@ TEST(ADT, factor_graph) {
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DiscreteKey B(0, 2), L(1, 2), E(2, 2), S(3, 2), T(4, 2), X(5, 2);
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resetCounts();
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gttic_(createCPTs);
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ADT pS = create(S % "50/50");
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ADT pT = create(T % "95/5");
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ADT pL = create(L | S = "99/1 90/10");
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@ -290,15 +256,10 @@ TEST(ADT, factor_graph) {
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ADT pX = create(X | E = "95/5 2/98");
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ADT pD = create(B | E = "1/8 7/9");
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ADT pB = create(B | S = "70/30 40/60");
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gttoc_(createCPTs);
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tictoc_getNode(createCPTsNode, createCPTs);
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elapsed = createCPTsNode->secs() + createCPTsNode->wall();
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tictoc_reset_();
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// printCounts("Create CPTs");
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printCounts("Create CPTs");
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// Create joint
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resetCounts();
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gttic_(asiaFG);
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ADT fg = pS;
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fg = apply(fg, pT, &mul);
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fg = apply(fg, pL, &mul);
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@ -312,14 +273,9 @@ TEST(ADT, factor_graph) {
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#else
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EXPECT_LONGS_EQUAL(188, (long)muls);
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#endif
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gttoc_(asiaFG);
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tictoc_getNode(asiaFGNode, asiaFG);
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elapsed = asiaFGNode->secs() + asiaFGNode->wall();
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tictoc_reset_();
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printCounts("Asia FG");
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resetCounts();
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gttic_(marg);
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fg = fg.combine(X, &add_);
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dot(fg, "Marginalized-6X");
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fg = fg.combine(T, &add_);
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@ -335,83 +291,54 @@ TEST(ADT, factor_graph) {
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#else
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LONGS_EQUAL(62, adds);
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#endif
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gttoc_(marg);
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tictoc_getNode(margNode, marg);
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elapsed = margNode->secs() + margNode->wall();
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tictoc_reset_();
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printCounts("marginalize");
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// BLESTX
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// Eliminate X
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resetCounts();
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gttic_(elimX);
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ADT fE = pX;
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dot(fE, "Eliminate-01-fEX");
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fE = fE.combine(X, &add_);
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dot(fE, "Eliminate-02-fE");
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gttoc_(elimX);
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tictoc_getNode(elimXNode, elimX);
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elapsed = elimXNode->secs() + elimXNode->wall();
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tictoc_reset_();
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printCounts("Eliminate X");
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// Eliminate T
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resetCounts();
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gttic_(elimT);
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ADT fLE = pT;
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fLE = apply(fLE, pE, &mul);
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dot(fLE, "Eliminate-03-fLET");
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fLE = fLE.combine(T, &add_);
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dot(fLE, "Eliminate-04-fLE");
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gttoc_(elimT);
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tictoc_getNode(elimTNode, elimT);
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elapsed = elimTNode->secs() + elimTNode->wall();
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tictoc_reset_();
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printCounts("Eliminate T");
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// Eliminate S
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resetCounts();
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gttic_(elimS);
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ADT fBL = pS;
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fBL = apply(fBL, pL, &mul);
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fBL = apply(fBL, pB, &mul);
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dot(fBL, "Eliminate-05-fBLS");
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fBL = fBL.combine(S, &add_);
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dot(fBL, "Eliminate-06-fBL");
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gttoc_(elimS);
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tictoc_getNode(elimSNode, elimS);
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elapsed = elimSNode->secs() + elimSNode->wall();
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tictoc_reset_();
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printCounts("Eliminate S");
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// Eliminate E
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resetCounts();
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gttic_(elimE);
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ADT fBL2 = fE;
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fBL2 = apply(fBL2, fLE, &mul);
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fBL2 = apply(fBL2, pD, &mul);
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dot(fBL2, "Eliminate-07-fBLE");
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fBL2 = fBL2.combine(E, &add_);
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dot(fBL2, "Eliminate-08-fBL2");
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gttoc_(elimE);
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tictoc_getNode(elimENode, elimE);
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elapsed = elimENode->secs() + elimENode->wall();
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tictoc_reset_();
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printCounts("Eliminate E");
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// Eliminate L
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resetCounts();
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gttic_(elimL);
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ADT fB = fBL;
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fB = apply(fB, fBL2, &mul);
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dot(fB, "Eliminate-09-fBL");
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fB = fB.combine(L, &add_);
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dot(fB, "Eliminate-10-fB");
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gttoc_(elimL);
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tictoc_getNode(elimLNode, elimL);
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elapsed = elimLNode->secs() + elimLNode->wall();
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tictoc_reset_();
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printCounts("Eliminate L");
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}
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