85 lines
2.0 KiB
C++
85 lines
2.0 KiB
C++
/**
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* @file timeGaussianFactor.cpp
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* @brief time GaussianFactor.eliminate
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* @author Alireza Fathi
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*/
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#include <time.h>
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/*STL/C++*/
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#include <iostream>
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using namespace std;
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#include <boost/tuple/tuple.hpp>
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#include "Matrix.h"
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#include "GaussianFactor.h"
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#include "GaussianConditional.h"
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using namespace gtsam;
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int main()
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{
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// create a linear factor
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Matrix Ax2 = Matrix_(8,2,
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// x2
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-5., 0.,
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+0.,-5.,
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10., 0.,
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+0.,10.,
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-5., 0.,
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+0.,-5.,
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10., 0.,
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+0.,10.
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);
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Matrix Al1 = Matrix_(8,10,
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// l1
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5., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0., 5.,1.,2.,3.,4.,5.,6.,7.,8.,
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0., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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5., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0., 5.,1.,2.,3.,4.,5.,6.,7.,8.,
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0., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0., 0.,1.,2.,3.,4.,5.,6.,7.,8.
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);
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Matrix Ax1 = Matrix_(8,2,
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// x1
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0.00, 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0.00, 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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-10., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0.00,-10.,1.,2.,3.,4.,5.,6.,7.,8.,
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0.00, 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0.00, 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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-10., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
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0.00,-10.,1.,2.,3.,4.,5.,6.,7.,8.
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);
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// and a RHS
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Vector b2(8);
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b2(0) = -1;
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b2(1) = 1.5;
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b2(2) = 2;
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b2(3) = -1;
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b2(4) = -1;
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b2(5) = 1.5;
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b2(6) = 2;
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b2(7) = -1;
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GaussianFactor combined("x2", Ax2, "l1", Al1, "x1", Ax1, b2,1);
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long timeLog = clock();
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int n = 1000000;
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GaussianConditional::shared_ptr conditional;
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GaussianFactor::shared_ptr factor;
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for(int i = 0; i < n; i++)
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boost::tie(conditional,factor) = combined.eliminate("x2");
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long timeLog2 = clock();
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double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
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cout << seconds << " seconds" << endl;
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cout << ((double)n/seconds) << " calls/second" << endl;
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return 0;
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}
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