1 files changed, 134 insertions, 0 deletions
diff --git a/eigen/bench/benchGeometry.cpp b/eigen/bench/benchGeometry.cpp
new file mode 100644
index 0000000..6e16c03
--- /dev/null
+++ b/eigen/bench/benchGeometry.cpp
@@ -0,0 +1,134 @@
+#include <iostream>
+#include <iomanip>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <bench/BenchTimer.h>
+
+using namespace Eigen;
+using namespace std;
+
+#ifndef REPEAT
+#define REPEAT 1000000
+#endif
+
+enum func_opt
+{
+    TV,
+    TMATV,
+    TMATVMAT,
+};
+
+
+template <class res, class arg1, class arg2, int opt>
+struct func;
+
+template <class res, class arg1, class arg2>
+struct func<res, arg1, arg2, TV>
+{
+    static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
+    {
+	asm ("");
+	return a1 * a2;
+    }
+};
+
+template <class res, class arg1, class arg2>
+struct func<res, arg1, arg2, TMATV>
+{
+    static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
+    {
+	asm ("");
+	return a1.matrix() * a2;
+    }
+};
+
+template <class res, class arg1, class arg2>
+struct func<res, arg1, arg2, TMATVMAT>
+{
+    static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
+    {
+	asm ("");
+	return res(a1.matrix() * a2.matrix());
+    }
+};
+
+template <class func, class arg1, class arg2>
+struct test_transform
+{
+    static void run()
+    {
+	arg1 a1;
+	a1.setIdentity();
+	arg2 a2;
+	a2.setIdentity();
+
+	BenchTimer timer;
+	timer.reset();
+	for (int k=0; k<10; ++k)
+	{
+	    timer.start();
+	    for (int k=0; k<REPEAT; ++k)
+		a2 = func::run( a1, a2 );
+	    timer.stop();
+	}
+	cout << setprecision(4) << fixed << timer.value() << "s  " << endl;;
+    }
+};
+
+
+#define run_vec( op, scalar, mode, option, vsize ) \
+    std::cout << #scalar << "\t " << #mode << "\t " << #option << " " << #vsize " "; \
+    {\
+	typedef Transform<scalar, 3, mode, option> Trans;\
+	typedef Matrix<scalar, vsize, 1, option> Vec;\
+	typedef func<Vec,Trans,Vec,op> Func;\
+	test_transform< Func, Trans, Vec >::run();\
+    }
+
+#define run_trans( op, scalar, mode, option ) \
+    std::cout << #scalar << "\t " << #mode << "\t " << #option << "   "; \
+    {\
+	typedef Transform<scalar, 3, mode, option> Trans;\
+	typedef func<Trans,Trans,Trans,op> Func;\
+	test_transform< Func, Trans, Trans >::run();\
+    }
+
+int main(int argc, char* argv[])
+{
+    cout << "vec = trans * vec" << endl;
+    run_vec(TV, float,  Isometry, AutoAlign, 3);
+    run_vec(TV, float,  Isometry, DontAlign, 3);
+    run_vec(TV, float,  Isometry, AutoAlign, 4);
+    run_vec(TV, float,  Isometry, DontAlign, 4);
+    run_vec(TV, float,  Projective, AutoAlign, 4);
+    run_vec(TV, float,  Projective, DontAlign, 4);
+    run_vec(TV, double, Isometry, AutoAlign, 3);
+    run_vec(TV, double, Isometry, DontAlign, 3);
+    run_vec(TV, double, Isometry, AutoAlign, 4);
+    run_vec(TV, double, Isometry, DontAlign, 4);
+    run_vec(TV, double, Projective, AutoAlign, 4);
+    run_vec(TV, double, Projective, DontAlign, 4);
+
+    cout << "vec = trans.matrix() * vec" << endl;
+    run_vec(TMATV, float,  Isometry, AutoAlign, 4);
+    run_vec(TMATV, float,  Isometry, DontAlign, 4);
+    run_vec(TMATV, double, Isometry, AutoAlign, 4);
+    run_vec(TMATV, double, Isometry, DontAlign, 4);
+
+    cout << "trans = trans1 * trans" << endl;
+    run_trans(TV, float,  Isometry, AutoAlign);
+    run_trans(TV, float,  Isometry, DontAlign);
+    run_trans(TV, double, Isometry, AutoAlign);
+    run_trans(TV, double, Isometry, DontAlign);
+    run_trans(TV, float,  Projective, AutoAlign);
+    run_trans(TV, float,  Projective, DontAlign);
+    run_trans(TV, double, Projective, AutoAlign);
+    run_trans(TV, double, Projective, DontAlign);
+
+    cout << "trans = trans1.matrix() * trans.matrix()" << endl;
+    run_trans(TMATVMAT, float,  Isometry, AutoAlign);
+    run_trans(TMATVMAT, float,  Isometry, DontAlign);
+    run_trans(TMATVMAT, double, Isometry, AutoAlign);
+    run_trans(TMATVMAT, double, Isometry, DontAlign);
+}
+