|
|
#include <iostream> |
|
|
#include <Eigen/Core> |
|
|
#include <Eigen/Geometry> |
|
|
#include <bench/BenchTimer.h> |
|
|
|
|
|
using namespace Eigen; |
|
|
|
|
|
template<typename Quat> |
|
|
EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c) |
|
|
{ |
|
|
c = a * b; |
|
|
} |
|
|
|
|
|
template<typename Quat> |
|
|
EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c) |
|
|
{ |
|
|
c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b); |
|
|
} |
|
|
|
|
|
template<typename Quat> void bench(const std::string& label) |
|
|
{ |
|
|
int tries = 10; |
|
|
int rep = 1000000; |
|
|
BenchTimer t; |
|
|
|
|
|
Quat a(4, 1, 2, 3); |
|
|
Quat b(2, 3, 4, 5); |
|
|
Quat c; |
|
|
|
|
|
std::cout.precision(3); |
|
|
|
|
|
BENCH(t, tries, rep, quatmul_default(a,b,c)); |
|
|
std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n"; |
|
|
|
|
|
BENCH(t, tries, rep, quatmul_novec(a,b,c)); |
|
|
std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n"; |
|
|
} |
|
|
|
|
|
int main() |
|
|
{ |
|
|
bench<Quaternionf>("float "); |
|
|
bench<Quaterniond>("double"); |
|
|
|
|
|
return 0; |
|
|
|
|
|
} |
|
|
|
|
|
|
