Go to the documentation of this file.00001 #include <iostream>
00002 #include <Eigen/Core>
00003 #include <Eigen/Geometry>
00004 #include <bench/BenchTimer.h>
00005
00006 using namespace Eigen;
00007
00008 template<typename Quat>
00009 EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c)
00010 {
00011 c = a * b;
00012 }
00013
00014 template<typename Quat>
00015 EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c)
00016 {
00017 c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b);
00018 }
00019
00020 template<typename Quat> void bench(const std::string& label)
00021 {
00022 int tries = 10;
00023 int rep = 1000000;
00024 BenchTimer t;
00025
00026 Quat a(4, 1, 2, 3);
00027 Quat b(2, 3, 4, 5);
00028 Quat c;
00029
00030 std::cout.precision(3);
00031
00032 BENCH(t, tries, rep, quatmul_default(a,b,c));
00033 std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
00034
00035 BENCH(t, tries, rep, quatmul_novec(a,b,c));
00036 std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
00037 }
00038
00039 int main()
00040 {
00041 bench<Quaternionf>("float ");
00042 bench<Quaterniond>("double");
00043
00044 return 0;
00045
00046 }
00047