56 lines
1.4 KiB
C++
56 lines
1.4 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 timePose3.cpp
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* @brief time Pose3 functions
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* @author Frank Dellaert
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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/geometry/Pose3.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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#define TEST(TITLE,STATEMENT) \
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gttic_(TITLE); \
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for(int i = 0; i < n; i++) \
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STATEMENT; \
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gttoc_(TITLE);
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int main()
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{
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int n = 5000000;
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cout << "NOTE: Times are reported for " << n << " calls" << endl;
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double norm=sqrt(1.0+16.0+4.0);
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double x=1.0/norm, y=4.0/norm, z=2.0/norm;
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Vector v = (Vector(6) << x, y, z, 0.1, 0.2, -0.1).finished();
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Pose3 T = Pose3::Expmap((Vector(6) << 0.1, 0.1, 0.2, 0.1, 0.4, 0.2).finished()), T2 = T.retract(v);
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Matrix H1,H2;
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TEST(retract, T.retract(v))
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TEST(Expmap, T*Pose3::Expmap(v))
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TEST(localCoordinates, T.localCoordinates(T2))
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TEST(between, T.between(T2))
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TEST(between_derivatives, T.between(T2,H1,H2))
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TEST(Logmap, Pose3::Logmap(T.between(T2)))
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// Print timings
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tictoc_print_();
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return 0;
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}
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