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Updated timing script

release/4.3a0
Frank Dellaert 2019-06-15 14:45:10 -04:00 committed by Fan Jiang
parent f5b57ce59f
commit a573658ba4
1 changed files with 18 additions and 18 deletions
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36
timing/timeRot3.cpp
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@ -23,33 +23,33 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
#define TEST(TITLE,STATEMENT) \ #define TEST(TITLE, STATEMENT) \
cout << endl << TITLE << endl;\ cout << endl << TITLE << endl; \
timeLog = clock();\ timeLog = clock(); \
for(int i = 0; i < n; i++)\ for (int i = 0; i < n; i++) STATEMENT; \
STATEMENT;\ timeLog2 = clock(); \
timeLog2 = clock();\ seconds = static_cast<double>(timeLog2 - timeLog) / CLOCKS_PER_SEC; \
seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;\ cout << 1000 * seconds << " milliseconds" << endl; \
cout << seconds << " seconds" << endl;\ cout << (1e9 * seconds / static_cast<double>(n)) << " nanosecs/call" << endl;
cout << ((double)n/seconds) << " calls/second" << endl;
int main() int main() {
{ int n = 100000;
int n = 100000; long timeLog, timeLog2; double seconds; clock_t timeLog, timeLog2;
double seconds;
// create a random direction: // create a random direction:
double norm=sqrt(1.0+16.0+4.0); double norm = sqrt(1.0 + 16.0 + 4.0);
double x=1.0/norm, y=4.0/norm, z=2.0/norm; double x = 1.0 / norm, y = 4.0 / norm, z = 2.0 / norm;
Vector v = (Vector(3) << x, y, z).finished(); Vector v = (Vector(3) << x, y, z).finished();
Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v); Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v);
TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v,0.001)) TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v, 0.001))
TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v)) TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v))
TEST("Expmap", R*Rot3::Expmap(v)) TEST("Expmap", R * Rot3::Expmap(v))
TEST("Retract", R.retract(v)) TEST("Retract", R.retract(v))
TEST("Logmap", Rot3::Logmap(R.between(R2))) TEST("Logmap", Rot3::Logmap(R.between(R2)))
TEST("localCoordinates", R.localCoordinates(R2)) TEST("localCoordinates", R.localCoordinates(R2))
TEST("Slow rotation matrix",Rot3::Rz(z)*Rot3::Ry(y)*Rot3::Rx(x)) TEST("Slow rotation matrix", Rot3::Rz(z) * Rot3::Ry(y) * Rot3::Rx(x))
TEST("Fast Rotation matrix", Rot3::RzRyRx(x,y,z)) TEST("Fast Rotation matrix", Rot3::RzRyRx(x, y, z))
return 0; return 0;
} }