307 lines
8.1 KiB
C++
307 lines
8.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/*
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* @file timeMatrix.cpp
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* @brief Performs timing and profiling for Matrix operations
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* @author Alex Cunningham
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*/
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#include <iostream>
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#include <gtsam/base/timing.h>
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#include <gtsam/base/Matrix.h>
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using namespace std;
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using namespace gtsam;
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/*
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* Results:
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* Alex's Machine:
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* (using p = 100000 m = 10 n = 12 reps = 50) - Average times
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* - (1st pass of simple changes) no pass: 0.184 sec , pass: 0.181 sec
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* - (1st rev memcpy) no pass: 0.181 sec , pass: 0.180 sec
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* - (1st rev matrix_range) no pass: 0.186 sec , pass: 0.184 sec
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* (using p = 10 m = 10 n = 12 reps = 10000000)
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* - (matrix_range version) no pass: 24.21 sec , pass: 23.97 sec
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* - (memcpy version) no pass: 18.96 sec , pass: 18.39 sec
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* - (original version) no pass: 23.45 sec , pass: 22.80 sec
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* - rev 2100 no pass: 18.45 sec , pass: 18.35 sec
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*/
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double timeCollect(size_t p, size_t m, size_t n, bool passDims, size_t reps) {
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// create a large number of matrices
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// p = number of matrices
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// m = rows per matrix
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// n = columns per matrix
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// reps = number of repetitions
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// fill the matrices with identities
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vector<const Matrix *> matrices;
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for (size_t i=0; i<p;++i) {
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Matrix * M = new Matrix;
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(*M) = Matrix::Identity(m,n);
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matrices.push_back(M);
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}
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// start timing
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Matrix result;
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double elapsed;
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{
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gttic_(elapsed);
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if (passDims)
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for (size_t i=0; i<reps; ++i)
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result = collect(matrices, m, n);
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else
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for (size_t i=0; i<reps; ++i)
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result = collect(matrices);
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gttoc_(elapsed);
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tictoc_getNode(elapsedNode, elapsed);
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elapsed = elapsedNode->secs();
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tictoc_reset_();
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}
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// delete the matrices
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for (size_t i=0; i<p;++i) {
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delete matrices[i];
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}
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return elapsed;
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//return elapsed/reps;
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}
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/*
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* Results:
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* Alex's Machine:
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* - Original : 0.60 sec (x1000)
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* - 1st Rev : 0.49 sec (x1000)
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* - rev 2100 : 0.52 sec (x1000)
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*/
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double timeVScaleColumn(size_t m, size_t n, size_t reps) {
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// make a matrix to scale
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Matrix M(m, n);
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for (size_t i=0; i<m; ++i)
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for (size_t j=0; j<n; ++j)
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M(i,j) = 2*i+j;
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// make a vector to use for scaling
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Vector V(m);
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for (size_t i=0; i<m; ++i)
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V(i) = i*2;
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double elapsed;
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Matrix result;
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{
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gttic_(elapsed);
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for (size_t i=0; i<reps; ++i)
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Matrix result = vector_scale(M,V);
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gttoc_(elapsed);
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tictoc_getNode(elapsedNode, elapsed);
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elapsed = elapsedNode->secs();
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tictoc_reset_();
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}
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return elapsed;
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}
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/*
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* Results:
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* Alex's Machine:
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* - Original : 0.54 sec (x1000)
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* - 1st rev : 0.44 sec (x1000)
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* - rev 2100 : 1.69 sec (x1000)
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*/
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double timeVScaleRow(size_t m, size_t n, size_t reps) {
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// make a matrix to scale
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Matrix M(m, n);
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for (size_t i=0; i<m; ++i)
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for (size_t j=0; j<n; ++j)
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M(i,j) = 2*i+j;
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// make a vector to use for scaling
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Vector V(n);
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for (size_t i=0; i<n; ++i)
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V(i) = i*2;
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double elapsed;
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Matrix result;
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{
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gttic_(elapsed);
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for (size_t i=0; i<reps; ++i)
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result = vector_scale(V,M);
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gttoc_(elapsed);
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tictoc_getNode(elapsedNode, elapsed);
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elapsed = elapsedNode->secs();
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tictoc_reset_();
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}
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return elapsed;
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}
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/**
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* Results:
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* Alex's Machine (reps = 200000)
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* - ublas matrix_column : 4.63 sec
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* - naive implementation : 4.70 sec
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*
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* reps = 2000000
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* - rev 2100 : 45.11 sec
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*/
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double timeColumn(size_t reps) {
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// create a matrix
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size_t m = 100; size_t n = 100;
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Matrix M(m, n);
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for (size_t i=0; i<m; ++i)
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for (size_t j=0; j<n; ++j)
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M(i,j) = 2*i+j;
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// extract a column
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double elapsed;
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Vector result;
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{
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gttic_(elapsed);
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for (size_t i=0; i<reps; ++i)
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for (size_t j = 0; j<n; ++j)
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//result = ublas::matrix_column<Matrix>(M, j);
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result = column(M, j);
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gttoc_(elapsed);
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tictoc_getNode(elapsedNode, elapsed);
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elapsed = elapsedNode->secs();
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tictoc_reset_();
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}
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return elapsed;
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}
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/*
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* Results
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* Alex's machine
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*
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* Runs at reps = 500000
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* Baseline (no householder, just matrix copy) : 0.05 sec
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* Initial : 8.20 sec
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* All in one function : 7.89 sec
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* Replace householder update with GSL, ATLAS : 0.92 sec
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*
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* Runs at reps = 2000000
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* Baseline (GSL/ATLAS householder update) : 3.61 sec
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*
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* Runs at reps = 5000000
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* Baseline : 8.76 sec
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* GSL/Atlas version of updateAb : 9.03 sec // Why does this have an effect?
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* Inlining house() : 6.33 sec
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* Inlining householder_update [GSL] : 6.15 sec
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* Rev 2100 : 5.75 sec
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*
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*/
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double timeHouseholder(size_t reps) {
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// create a matrix
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Matrix Abase = (Matrix(4, 7) <<
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-5, 0, 5, 0, 0, 0, -1,
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00, -5, 0, 5, 0, 0, 1.5,
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10, 0, 0, 0,-10, 0, 2,
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00, 10, 0, 0, 0,-10, -1).finished();
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// perform timing
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double elapsed;
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{
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gttic_(elapsed);
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for (size_t i=0; i<reps; ++i) {
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Matrix A = Abase;
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householder_(A,3);
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}
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gttoc_(elapsed);
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tictoc_getNode(elapsedNode, elapsed);
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elapsed = elapsedNode->secs();
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tictoc_reset_();
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}
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return elapsed;
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}
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/**
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* Results: (Alex's machine)
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* reps: 200000
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*
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* Initial (boost matrix proxies) - 12.08
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* Direct pointer method - 4.62
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*/
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double timeMatrixInsert(size_t reps) {
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// create a matrix
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Matrix bigBase = Matrix::Zero(100, 100);
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Matrix small = Matrix::Identity(5,5);
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// perform timing
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double elapsed;
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{
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gttic_(elapsed);
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Matrix big = bigBase;
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for (size_t rep=0; rep<reps; ++rep)
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for (size_t i=0; i<100; i += 5)
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for (size_t j=0; j<100; j += 5)
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insertSub(big, small, i,j);
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gttoc_(elapsed);
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tictoc_getNode(elapsedNode, elapsed);
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elapsed = elapsedNode->secs();
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tictoc_reset_();
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}
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return elapsed;
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}
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int main(int argc, char ** argv) {
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// Time collect()
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cout << "Starting Matrix::collect() Timing" << endl;
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//size_t p = 100000; size_t m = 10; size_t n = 12; size_t reps = 50;
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size_t p = 10; size_t m = 10; size_t n = 12; size_t reps = 10000000;
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double collect_time1 = timeCollect(p, m, n, false, reps);
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double collect_time2 = timeCollect(p, m, n, true, reps);
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cout << "Average Elapsed time for collect (no pass) [" << p << " (" << m << ", " << n << ") matrices] : " << collect_time1 << endl;
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cout << "Average Elapsed time for collect (pass) [" << p << " (" << m << ", " << n << ") matrices] : " << collect_time2 << endl;
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// Time vector_scale_column
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cout << "Starting Matrix::vector_scale(column) Timing" << endl;
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size_t m1 = 400; size_t n1 = 480; size_t reps1 = 1000;
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double vsColumn_time = timeVScaleColumn(m1, n1, reps1);
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cout << "Elapsed time for vector_scale(column) [(" << m1 << ", " << n1 << ") matrix] : " << vsColumn_time << endl;
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// Time vector_scale_row
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cout << "Starting Matrix::vector_scale(row) Timing" << endl;
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double vsRow_time = timeVScaleRow(m1, n1, reps1);
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cout << "Elapsed time for vector_scale(row) [(" << m1 << ", " << n1 << ") matrix] : " << vsRow_time << endl;
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// Time column() NOTE: using the ublas version
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cout << "Starting column() Timing" << endl;
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size_t reps2 = 2000000;
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double column_time = timeColumn(reps2);
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cout << "Time: " << column_time << " sec" << endl;
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// Time householder_ function
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cout << "Starting householder_() Timing" << endl;
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size_t reps_house = 5000000;
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double house_time = timeHouseholder(reps_house);
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cout << "Elapsed time for householder_() : " << house_time << " sec" << endl;
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// Time matrix insertion
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cout << "Starting insertSub() Timing" << endl;
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size_t reps_insert = 200000;
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double insert_time = timeMatrixInsert(reps_insert);
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cout << "Elapsed time for insertSub() : " << insert_time << " sec" << endl;
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return 0;
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}
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