jacobiandoubletests.cpp
Go to the documentation of this file.00001 #include "jacobiandoubletests.hpp" 00002 00003 namespace KDL { 00004 00005 00006 void checkDoubleOps() { 00007 KDL_CTX; 00008 checkUnary<OpTan,double>::check(); 00009 checkUnary<OpExp,double>::check(); 00010 checkUnary<OpSin,double>::check(); 00011 checkUnary<OpCos,double>::check(); 00012 checkUnary<OpLog,double>::check(&posrandom); 00013 checkUnary<OpAtan,double>::check(); 00014 checkUnary<OpAsin,double>::check(&random,1E-8,1E-3); 00015 checkUnary<OpAcos,double>::check(&random,1E-8,1E-3); 00016 checkUnary<OpSqrt,double>::check(&posrandom); 00017 checkBinary<OpMult,double,double>::check(); 00018 checkBinary<OpAtan2,double,double>::check(1E-8,1E-3); 00019 } 00020 00021 /* 00022 void checkDoubleCodeSize() { 00023 PV<double> a(2); 00024 PV<double> b(2); 00025 PV<double> res(2); 00026 random(a); 00027 random(b); 00028 checkDoubleCodeSizeMult(a,b,res); 00029 } 00030 ** VISUAL C++ assembler code : 00031 * Shows that there is little overhead from the framework 00032 * There is some overhead because of the isConstant() tests, but this pays itself back 00033 * if one deals with e.g. Frames or higher number of derivatives. 00034 * 00035 ?checkDoubleCodeSizeMult@@YAXABV?$PV@N@@0AAV1@@Z PROC NEAR ; checkDoubleCodeSizeMult, COMDAT 00036 00037 ; 60 : res = a*b; 00038 00039 mov ecx, DWORD PTR _b$[esp-4] 00040 mov edx, DWORD PTR _res$[esp-4] 00041 push esi 00042 mov esi, DWORD PTR _a$[esp] 00043 fld QWORD PTR [esi] 00044 mov al, BYTE PTR [esi+16] 00045 test al, al 00046 fmul QWORD PTR [ecx] 00047 push edi 00048 fstp QWORD PTR [edx] 00049 je SHORT $L13435 00050 mov al, BYTE PTR [ecx+16] 00051 test al, al 00052 je SHORT $L13435 00053 mov eax, 1 00054 jmp SHORT $L13436 00055 $L13435: 00056 xor eax, eax 00057 $L13436: 00058 test al, al 00059 mov BYTE PTR [edx+16], al 00060 jne SHORT $L13419 00061 mov edi, DWORD PTR [edx+12] 00062 xor eax, eax 00063 test edi, edi 00064 jle SHORT $L13419 00065 mov edx, DWORD PTR [edx+8] 00066 push ebx 00067 $L13417: 00068 mov bl, BYTE PTR [esi+16] 00069 test bl, bl 00070 je SHORT $L13446 00071 mov ebx, DWORD PTR [ecx+8] 00072 fld QWORD PTR [ebx+eax*8] 00073 fmul QWORD PTR [esi] 00074 jmp SHORT $L13445 00075 $L13446: 00076 mov bl, BYTE PTR [ecx+16] 00077 test bl, bl 00078 je SHORT $L13447 00079 mov ebx, DWORD PTR [esi+8] 00080 fld QWORD PTR [ebx+eax*8] 00081 fmul QWORD PTR [ecx] 00082 jmp SHORT $L13445 00083 $L13447: 00084 mov ebx, DWORD PTR [ecx+8] 00085 fld QWORD PTR [ebx+eax*8] 00086 mov ebx, DWORD PTR [esi+8] 00087 fmul QWORD PTR [esi] 00088 fld QWORD PTR [ebx+eax*8] 00089 fmul QWORD PTR [ecx] 00090 faddp ST(1), ST(0) 00091 $L13445: 00092 fstp QWORD PTR [edx+eax*8] 00093 inc eax 00094 cmp eax, edi 00095 jl SHORT $L13417 00096 pop ebx 00097 $L13419: 00098 pop edi 00099 pop esi 00100 00101 ; 61 : } 00102 00103 * 00104 void checkDoubleCodeSizeMult(const PV<double>& a,const PV<double>& b,PV<double>& res) { 00105 res = a*b; 00106 }*/ 00107 00108 } // namespace 00109 00110