timeLinearize.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h>
 
#include <time.h>
#include <iostream>
#include <iomanip>
 
static const int n = 1000000;
 
void timeSingleThreaded(const std::string& str,
    const gtsam::NonlinearFactor::shared_ptr& f, const gtsam::Values& values) {
  long timeLog = clock();
  gtsam::GaussianFactor::shared_ptr gf;
  for (int i = 0; i < n; i++)
    gf = f->linearize(values);
  long timeLog2 = clock();
  double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
  std::cout << std::setprecision(3);
  std::cout << str << ((double) seconds * 1000000 / n) << " musecs/call"
      << std::endl;
}
 
void timeMultiThreaded(const std::string& str,
    const gtsam::NonlinearFactor::shared_ptr& f, const gtsam::Values& values) {
  gtsam::NonlinearFactorGraph graph;
  for (int i = 0; i < n; i++)
    graph.push_back(f);
  long timeLog = clock();
  gtsam::GaussianFactorGraph::shared_ptr gfg = graph.linearize(values);
  long timeLog2 = clock();
  double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
  std::cout << std::setprecision(3);
  std::cout << str << ((double) seconds * 1000000 / n) << " musecs/call"
      << std::endl;
}