LP-311 Remove basic/advanced stabilization tab auto-switch (autotune/txpid lock issues)
[librepilot.git] / ground / gcs / src / libs / eigen / bench / geometry.cpp
blobb187a515f58d1f6f64f79a75614a404376016c02
2 #include <iostream>
3 #include <Eigen/Geometry>
4 #include <bench/BenchTimer.h>
6 using namespace std;
7 using namespace Eigen;
9 #ifndef SCALAR
10 #define SCALAR float
11 #endif
13 #ifndef SIZE
14 #define SIZE 8
15 #endif
17 typedef SCALAR Scalar;
18 typedef NumTraits<Scalar>::Real RealScalar;
19 typedef Matrix<RealScalar,Dynamic,Dynamic> A;
20 typedef Matrix</*Real*/Scalar,Dynamic,Dynamic> B;
21 typedef Matrix<Scalar,Dynamic,Dynamic> C;
22 typedef Matrix<RealScalar,Dynamic,Dynamic> M;
24 template<typename Transformation, typename Data>
25 EIGEN_DONT_INLINE void transform(const Transformation& t, Data& data)
27 EIGEN_ASM_COMMENT("begin");
28 data = t * data;
29 EIGEN_ASM_COMMENT("end");
32 template<typename Scalar, typename Data>
33 EIGEN_DONT_INLINE void transform(const Quaternion<Scalar>& t, Data& data)
35 EIGEN_ASM_COMMENT("begin quat");
36 for(int i=0;i<data.cols();++i)
37 data.col(i) = t * data.col(i);
38 EIGEN_ASM_COMMENT("end quat");
41 template<typename T> struct ToRotationMatrixWrapper
43 enum {Dim = T::Dim};
44 typedef typename T::Scalar Scalar;
45 ToRotationMatrixWrapper(const T& o) : object(o) {}
46 T object;
49 template<typename QType, typename Data>
50 EIGEN_DONT_INLINE void transform(const ToRotationMatrixWrapper<QType>& t, Data& data)
52 EIGEN_ASM_COMMENT("begin quat via mat");
53 data = t.object.toRotationMatrix() * data;
54 EIGEN_ASM_COMMENT("end quat via mat");
57 template<typename Scalar, int Dim, typename Data>
58 EIGEN_DONT_INLINE void transform(const Transform<Scalar,Dim,Projective>& t, Data& data)
60 data = (t * data.colwise().homogeneous()).template block<Dim,Data::ColsAtCompileTime>(0,0);
63 template<typename T> struct get_dim { enum { Dim = T::Dim }; };
64 template<typename S, int R, int C, int O, int MR, int MC>
65 struct get_dim<Matrix<S,R,C,O,MR,MC> > { enum { Dim = R }; };
67 template<typename Transformation, int N>
68 struct bench_impl
70 static EIGEN_DONT_INLINE void run(const Transformation& t)
72 Matrix<typename Transformation::Scalar,get_dim<Transformation>::Dim,N> data;
73 data.setRandom();
74 bench_impl<Transformation,N-1>::run(t);
75 BenchTimer timer;
76 BENCH(timer,10,100000,transform(t,data));
77 cout.width(9);
78 cout << timer.best() << " ";
83 template<typename Transformation>
84 struct bench_impl<Transformation,0>
86 static EIGEN_DONT_INLINE void run(const Transformation&) {}
89 template<typename Transformation>
90 EIGEN_DONT_INLINE void bench(const std::string& msg, const Transformation& t)
92 cout << msg << " ";
93 bench_impl<Transformation,SIZE>::run(t);
94 std::cout << "\n";
97 int main(int argc, char ** argv)
99 Matrix<Scalar,3,4> mat34; mat34.setRandom();
100 Transform<Scalar,3,Isometry> iso3(mat34);
101 Transform<Scalar,3,Affine> aff3(mat34);
102 Transform<Scalar,3,AffineCompact> caff3(mat34);
103 Transform<Scalar,3,Projective> proj3(mat34);
104 Quaternion<Scalar> quat;quat.setIdentity();
105 ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat);
106 Matrix<Scalar,3,3> mat33; mat33.setRandom();
108 cout.precision(4);
109 std::cout
110 << "N ";
111 for(int i=0;i<SIZE;++i)
113 cout.width(9);
114 cout << i+1 << " ";
116 cout << "\n";
118 bench("matrix 3x3", mat33);
119 bench("quaternion", quat);
120 bench("quat-mat ", quatmat);
121 bench("isometry3 ", iso3);
122 bench("affine3 ", aff3);
123 bench("c affine3 ", caff3);
124 bench("proj3 ", proj3);