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tests
jacobiandoubletests.cpp
Go to the documentation of this file.
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#include "
jacobiandoubletests.hpp
"
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namespace
KDL
{
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void
checkDoubleOps
() {
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KDL_CTX;
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checkUnary<OpTan,double>::check
();
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checkUnary<OpExp,double>::check
();
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checkUnary<OpSin,double>::check
();
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checkUnary<OpCos,double>::check
();
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checkUnary<OpLog,double>::check
(&
posrandom
);
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checkUnary<OpAtan,double>::check
();
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checkUnary<OpAsin,double>::check
(&
random
,1E-8,1E-3);
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checkUnary<OpAcos,double>::check
(&
random
,1E-8,1E-3);
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checkUnary<OpSqrt,double>::check
(&
posrandom
);
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checkBinary<OpMult,double,double>::check
();
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checkBinary<OpAtan2,double,double>::check
(1E-8,1E-3);
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}
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/*
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void checkDoubleCodeSize() {
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PV<double> a(2);
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PV<double> b(2);
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PV<double> res(2);
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random(a);
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random(b);
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checkDoubleCodeSizeMult(a,b,res);
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}
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** VISUAL C++ assembler code :
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* Shows that there is little overhead from the framework
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* There is some overhead because of the isConstant() tests, but this pays itself back
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* if one deals with e.g. Frames or higher number of derivatives.
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*
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?checkDoubleCodeSizeMult@@YAXABV?$PV@N@@0AAV1@@Z PROC NEAR ; checkDoubleCodeSizeMult, COMDAT
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; 60 : res = a*b;
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mov ecx, DWORD PTR _b$[esp-4]
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mov edx, DWORD PTR _res$[esp-4]
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push esi
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mov esi, DWORD PTR _a$[esp]
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fld QWORD PTR [esi]
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mov al, BYTE PTR [esi+16]
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test al, al
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fmul QWORD PTR [ecx]
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push edi
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fstp QWORD PTR [edx]
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je SHORT $L13435
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mov al, BYTE PTR [ecx+16]
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test al, al
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je SHORT $L13435
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mov eax, 1
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jmp SHORT $L13436
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$L13435:
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xor eax, eax
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$L13436:
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test al, al
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mov BYTE PTR [edx+16], al
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jne SHORT $L13419
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mov edi, DWORD PTR [edx+12]
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xor eax, eax
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test edi, edi
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jle SHORT $L13419
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mov edx, DWORD PTR [edx+8]
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push ebx
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$L13417:
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mov bl, BYTE PTR [esi+16]
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test bl, bl
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je SHORT $L13446
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mov ebx, DWORD PTR [ecx+8]
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fld QWORD PTR [ebx+eax*8]
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fmul QWORD PTR [esi]
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jmp SHORT $L13445
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$L13446:
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mov bl, BYTE PTR [ecx+16]
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test bl, bl
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je SHORT $L13447
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mov ebx, DWORD PTR [esi+8]
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fld QWORD PTR [ebx+eax*8]
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fmul QWORD PTR [ecx]
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jmp SHORT $L13445
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$L13447:
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mov ebx, DWORD PTR [ecx+8]
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fld QWORD PTR [ebx+eax*8]
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mov ebx, DWORD PTR [esi+8]
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fmul QWORD PTR [esi]
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fld QWORD PTR [ebx+eax*8]
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fmul QWORD PTR [ecx]
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faddp ST(1), ST(0)
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$L13445:
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fstp QWORD PTR [edx+eax*8]
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inc eax
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cmp eax, edi
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jl SHORT $L13417
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pop ebx
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$L13419:
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pop edi
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pop esi
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; 61 : }
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*
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void checkDoubleCodeSizeMult(const PV<double>& a,const PV<double>& b,PV<double>& res) {
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res = a*b;
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}*/
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}
// namespace
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KDL::checkUnary::check
static void check(void(*rnd)(Jacobian< A > &)=&random, double dt=1E-8, double eps=1E-4, int size=1)
Definition:
jacobiantests.hpp:45
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::checkDoubleOps
void checkDoubleOps()
Definition:
jacobiandoubletests.cpp:6
KDL::posrandom
IMETHOD void posrandom(Vector &a)
Definition:
frames.hpp:1244
jacobiandoubletests.hpp
KDL::random
IMETHOD void random(Vector &a)
addDelta operator for displacement rotational velocity.
Definition:
frames.hpp:1215
KDL::checkBinary::check
static void check(double dt=1E-8, double eps=1E-4, int size=1)
Definition:
jacobiantests.hpp:112
orocos_kdl
Author(s):
autogenerated on Fri Mar 12 2021 03:05:43