1 #include <iostream> 2 #include <Eigen/Core> 3 #include <Eigen/Geometry> 4 #include <bench/BenchTimer.h> 5 6 using namespace Eigen; 7 8 template<typename Quat> 9 EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c) 10 { 11 c = a * b; 12 } 13 14 template<typename Quat> 15 EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c) 16 { 17 c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b); 18 } 19 20 template<typename Quat> void bench(const std::string& label) 21 { 22 int tries = 10; 23 int rep = 1000000; 24 BenchTimer t; 25 26 Quat a(4, 1, 2, 3); 27 Quat b(2, 3, 4, 5); 28 Quat c; 29 30 std::cout.precision(3); 31 32 BENCH(t, tries, rep, quatmul_default(a,b,c)); 33 std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n"; 34 35 BENCH(t, tries, rep, quatmul_novec(a,b,c)); 36 std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n"; 37 } 38 39 int main() 40 { 41 bench<Quaternionf>("float "); 42 bench<Quaterniond>("double"); 43 44 return 0; 45 46 } 47 48
