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| #include <iostream>
| #include <Eigen/Core>
| #include <Eigen/Geometry>
| #include <bench/BenchTimer.h>
|
| using namespace Eigen;
|
| template<typename Quat>
| EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c)
| {
| c = a * b;
| }
|
| template<typename Quat>
| EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c)
| {
| c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b);
| }
|
| template<typename Quat> void bench(const std::string& label)
| {
| int tries = 10;
| int rep = 1000000;
| BenchTimer t;
|
| Quat a(4, 1, 2, 3);
| Quat b(2, 3, 4, 5);
| Quat c;
|
| std::cout.precision(3);
|
| BENCH(t, tries, rep, quatmul_default(a,b,c));
| std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
|
| BENCH(t, tries, rep, quatmul_novec(a,b,c));
| std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
| }
|
| int main()
| {
| bench<Quaternionf>("float ");
| bench<Quaterniond>("double");
|
| return 0;
|
| }
|
|
