Directory: | ./ |
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File: | tests/tools/test_matrix.cpp |
Date: | 2024-08-13 12:13:25 |
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Lines: | 20 | 20 | 100.0% |
Branches: | 19 | 28 | 67.9% |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | /* -------------------------------------------------------------------------- */ | ||
11 | /* --- INCLUDES ------------------------------------------------------------- */ | ||
12 | /* -------------------------------------------------------------------------- */ | ||
13 | |||
14 | #include <dynamic-graph/linear-algebra.h> | ||
15 | |||
16 | #include <iostream> | ||
17 | #include <sot/core/debug.hh> | ||
18 | #include <sot/core/feature-abstract.hh> | ||
19 | using namespace std; | ||
20 | |||
21 | #include <sot/core/sot.hh> | ||
22 | |||
23 | #ifndef WIN32 | ||
24 | #include <sys/time.h> | ||
25 | #else /*WIN32*/ | ||
26 | #include <sot/core/utils-windows.hh> | ||
27 | #endif /*WIN32*/ | ||
28 | |||
29 | #define sotCHRONO1 \ | ||
30 | gettimeofday(&t1, NULL); \ | ||
31 | dt = ((t1.tv_sec - t0.tv_sec) * 1000. + \ | ||
32 | (t1.tv_usec - t0.tv_usec + 0.) / 1000.); \ | ||
33 | cout << "dt: " << dt | ||
34 | |||
35 | 1 | int main(int, char **) { | |
36 | sotDEBUGIN(15); | ||
37 | |||
38 | struct timeval t0, t1; | ||
39 | double dt; | ||
40 | |||
41 |
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1 | dynamicgraph::Matrix P(40, 40); |
42 |
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1 | dynamicgraph::Matrix J(6, 40); |
43 |
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1 | dynamicgraph::Matrix JK(6, 40); |
44 |
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41 | for (int i = 0; i < 40; ++i) |
45 |
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1640 | for (int j = 0; j < 40; ++j) P(i, j) = (rand() + 1.) / RAND_MAX; |
46 |
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7 | for (int i = 0; i < J.rows(); ++i) |
47 |
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246 | for (int j = 0; j < J.cols(); ++j) J(i, j) = (rand() + 1.) / RAND_MAX; |
48 | |||
49 | 1 | int nbIter = 100000; | |
50 | 1 | dt = 0; | |
51 | 1 | gettimeofday(&t0, NULL); | |
52 |
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100001 | for (int iter = 0; iter < nbIter; ++iter) { |
53 | 100000 | gettimeofday(&t0, NULL); | |
54 | // J.multiply(P,JK); | ||
55 | // prod(J.matrix,P.matrix,JK.matrix); | ||
56 |
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100000 | JK = J * P; |
57 | 100000 | gettimeofday(&t1, NULL); | |
58 | 100000 | dt += ((double)(t1.tv_sec - t0.tv_sec) + | |
59 | 100000 | (double)(t1.tv_usec - t0.tv_usec) / 1000. / 1000.); | |
60 | } | ||
61 | // sotCHRONO1 <<endl; | ||
62 |
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1 | cout << dt / nbIter << endl; |
63 | |||
64 | sotDEBUGOUT(15); | ||
65 | 1 | return 0; | |
66 | 1 | } | |
67 |