Removed unused files
Richard Roberts
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeSymbolMaps.cpp
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* @date Jan 20, 2010
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* @author richard
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*/
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#include <boost/unordered_map.hpp>
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#include <string>
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#include <boost/timer.hpp>
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#include <boost/lexical_cast.hpp>
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#include <vector>
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#include <map>
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#include <gtsam/nonlinear/Symbol.h>
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using namespace std;
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using namespace boost;
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using namespace gtsam;
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template<class T>
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class SymbolMapExp {
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private:
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typedef map<unsigned char, vector<T> > Map;
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typedef vector<T> Vec;
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Map values_;
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public:
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typedef pair<Key, T> value_type;
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SymbolMapExp() {}
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T& at(Key key) {
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typename Map::iterator it = values_.find(key.chr());
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if(it != values_.end())
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return it->second.at(key.index());
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else
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throw invalid_argument("Key " + (string)key + " not present");
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}
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void set(Key key, const T& value) {
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Vec& vec(values_[key.chr()]);
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//vec.reserve(10000);
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if(key.index() >= vec.size()) {
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vec.reserve(key.index()+1);
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vec.resize(key.index());
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vec.push_back(value);
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} else
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vec[key.index()] = value;
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}
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};
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template<class T>
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class SymbolMapBinary : public std::map<Key, T> {
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private:
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typedef std::map<Key, T> Base;
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public:
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SymbolMapBinary() : std::map<Key, T>() {}
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T& at(Key key) {
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typename Base::iterator it = Base::find(key);
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if (it == Base::end())
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throw(std::invalid_argument("SymbolMap::[] invalid key: " + (std::string)key));
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return it->second;
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}
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};
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struct SymbolHash : public std::unary_function<Key, std::size_t> {
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std::size_t operator()(Key const& x) const {
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std::size_t seed = 0;
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boost::hash_combine(seed, x.chr());
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boost::hash_combine(seed, x.index());
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return ((size_t(x.chr()) << 24) & x.index());
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}
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};
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template<class T>
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class SymbolMapHash : public boost::unordered_map<Key, T, SymbolHash> {
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public:
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SymbolMapHash() : boost::unordered_map<Key, T, SymbolHash>(60000) {}
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};
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struct Value {
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double v;
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Value() : v(0.0) {}
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Value(double vi) : v(vi) {}
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operator string() { return lexical_cast<string>(v); }
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bool operator!=(const Value& vc) { return v != vc.v; }
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};
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#define ELEMS 3000
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#define TIMEAT 300
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int main(int argc, char *argv[]) {
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timer tmr;
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// pre-allocate
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cout << "Generating test data ..." << endl;
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vector<pair<Key, Value> > values;
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for(size_t i=0; i<ELEMS; i++) {
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values.push_back(make_pair(Symbol('a',i), (double)i));
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values.push_back(make_pair(Symbol('b',i), (double)i));
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values.push_back(make_pair(Symbol('c',i), (double)i));
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}
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// time binary map
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cout << "Timing binary map ..." << endl;
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{
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SymbolMapBinary<Value> binary;
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for(size_t i=0; i<ELEMS*3; ) {
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size_t stop = i + TIMEAT;
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tmr.restart();
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for( ; i<stop; i++)
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binary.insert(values[i]);
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double time = tmr.elapsed();
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cout << i << " values, avg " << (time/(double)TIMEAT)*1e6 << " mu-s per insert" << endl;
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tmr.restart();
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for(size_t j=0; j<i; j++)
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if(values[j].second != binary[values[j].first]) {
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cout << "Wrong value! At key " << (string)values[j].first <<
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" expecting " << (string)values[j].second <<
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" got " << (string)binary[values[j].first] << endl;
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}
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time = tmr.elapsed();
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cout << i << " values, avg " << (time)*1e3 << " ms per lookup" << endl;
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}
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}
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// time hash map
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cout << "Timing hash map ..." << endl;
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{
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SymbolMapHash<Value> hash;
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for(size_t i=0; i<ELEMS*3; ) {
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size_t stop = i + TIMEAT;
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tmr.restart();
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for( ; i<stop; i++)
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hash.insert(values[i]);
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double time = tmr.elapsed();
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cout << i << " values, avg " << (time/(double)TIMEAT)*1e6 << " mu-s per insert" << endl;
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tmr.restart();
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for(size_t j=0; j<i; j++)
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if(values[j].second != hash[values[j].first]) {
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cout << "Wrong value! At key " << (string)values[j].first <<
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" expecting " << (string)values[j].second <<
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" got " << (string)hash[values[j].first] << endl;
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}
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time = tmr.elapsed();
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cout << i << " values, avg " << (time/(double)i)*1e6 << " mu-s per lookup" << endl;
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}
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}
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// time experimental map
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cout << "Timing experimental map ..." << endl;
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{
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SymbolMapExp<Value> experimental;
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for(size_t i=0; i<ELEMS*3; ) {
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size_t stop = i + TIMEAT;
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tmr.restart();
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for( ; i<stop; i++)
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experimental.set(values[i].first, values[i].second);
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double time = tmr.elapsed();
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cout << i << " values, avg " << (time/(double)TIMEAT)*1e6 << " mu-s per insert" << endl;
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tmr.restart();
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for(size_t j=0; j<i; j++)
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if(values[j].second != experimental.at(values[j].first)) {
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cout << "Wrong value! At key " << (string)values[j].first <<
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" expecting " << (string)values[j].second <<
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" got " << (string)experimental.at(values[j].first) << endl;
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}
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time = tmr.elapsed();
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cout << i << " values, avg " << (time/(double)i)*1e6 << " mu-s per lookup" << endl;
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}
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}
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return 0;
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}
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