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Updated timePose3 script with new timing statements (supposedly more accurate)

release/4.3a0
Richard Roberts 2013-04-05 16:04:19 +00:00
parent e0958c7bf9
commit 25d91b0e0c
1 changed files with 18 additions and 16 deletions
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34
gtsam/geometry/tests/timePose3.cpp
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@ -15,39 +15,41 @@
* @author Frank Dellaert
*/
#include <time.h>
#include <iostream>
#include <gtsam/base/timing.h>
#include <gtsam/geometry/Pose3.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
#define TEST(TITLE,STATEMENT) \
cout << endl << TITLE << endl;\
timeLog = clock();\
for(int i = 0; i < n; i++)\
STATEMENT;\
timeLog2 = clock();\
seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;\
cout << seconds << " seconds" << endl;\
cout << ((double)n/seconds) << " calls/second" << endl;
gttic_(TITLE); \
for(int i = 0; i < n; i++) \
STATEMENT; \
gttoc_(TITLE);
int main()
{
int n = 100000; long timeLog, timeLog2; double seconds;
int n = 5000000;
cout << "NOTE: Times are reported for " << n << " calls" << endl;
double norm=sqrt(1.0+16.0+4.0);
double x=1.0/norm, y=4.0/norm, z=2.0/norm;
Vector v = Vector_(6,x,y,z,0.1,0.2,-0.1);
Pose3 T = Pose3::Expmap(Vector_(6,0.1,0.1,0.2,0.1, 0.4, 0.2)), T2 = T.retract(v);
Matrix H1,H2;
TEST("retract", T.retract(v))
TEST("Expmap", T*Pose3::Expmap(v))
TEST("localCoordinates", T.localCoordinates(T2))
TEST("between", T.between(T2))
TEST("between-derivatives", T.between(T2,H1,H2))
TEST("Logmap", Pose3::Logmap(T.between(T2)))
TEST(retract, T.retract(v))
TEST(Expmap, T*Pose3::Expmap(v))
TEST(localCoordinates, T.localCoordinates(T2))
TEST(between, T.between(T2))
TEST(between_derivatives, T.between(T2,H1,H2))
TEST(Logmap, Pose3::Logmap(T.between(T2)))
// Print timings
tictoc_print_();
return 0;
}