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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* -------------------------------------------------------------------------- */ |
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/* --- INCLUDES ------------------------------------------------------------- */ |
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/* -------------------------------------------------------------------------- */ |
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#include <dynamic-graph/linear-algebra.h> |
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#include <iostream> |
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#include <sot/core/debug.hh> |
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#include <sot/core/feature-abstract.hh> |
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using namespace std; |
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#include <sot/core/sot.hh> |
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#ifndef WIN32 |
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#include <sys/time.h> |
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#else /*WIN32*/ |
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#include <sot/core/utils-windows.hh> |
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#endif /*WIN32*/ |
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#define sotCHRONO1 \ |
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gettimeofday(&t1, NULL); \ |
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dt = ((t1.tv_sec - t0.tv_sec) * 1000. + \ |
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(t1.tv_usec - t0.tv_usec + 0.) / 1000.); \ |
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cout << "dt: " << dt |
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int main(int, char **) { |
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sotDEBUGIN(15); |
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struct timeval t0, t1; |
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double dt; |
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✓✗ |
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dynamicgraph::Matrix P(40, 40); |
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✓✗ |
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dynamicgraph::Matrix J(6, 40); |
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✓✗ |
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dynamicgraph::Matrix JK(6, 40); |
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✓✓ |
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for (int i = 0; i < 40; ++i) |
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✓✓✓✗
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for (int j = 0; j < 40; ++j) P(i, j) = (rand() + 1.) / RAND_MAX; |
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✓✗✓✓
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for (int i = 0; i < J.rows(); ++i) |
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✓✗✓✓
✓✗ |
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for (int j = 0; j < J.cols(); ++j) J(i, j) = (rand() + 1.) / RAND_MAX; |
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int nbIter = 100000; |
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dt = 0; |
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gettimeofday(&t0, NULL); |
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✓✓ |
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for (int iter = 0; iter < nbIter; ++iter) { |
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gettimeofday(&t0, NULL); |
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// J.multiply(P,JK); |
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// prod(J.matrix,P.matrix,JK.matrix); |
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✓✗✓✗
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JK = J * P; |
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gettimeofday(&t1, NULL); |
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dt += ((double)(t1.tv_sec - t0.tv_sec) + |
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(double)(t1.tv_usec - t0.tv_usec) / 1000. / 1000.); |
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} |
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// sotCHRONO1 <<endl; |
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✓✗✓✗
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cout << dt / nbIter << endl; |
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sotDEBUGOUT(15); |
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return 0; |
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} |