1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
|
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file test_mathlib.cpp
*
* Mathlib test
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <time.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include "tests.h"
using namespace math;
const char* formatResult(bool res) {
return res ? "OK" : "ERROR";
}
int test_mathlib(int argc, char *argv[])
{
warnx("testing mathlib");
Matrix<3,3> m3;
m3.identity();
Matrix<4,4> m4;
m4.identity();
Vector<3> v3;
v3(0) = 1.0f;
v3(1) = 2.0f;
v3(2) = 3.0f;
Vector<4> v4;
v4(0) = 1.0f;
v4(1) = 2.0f;
v4(2) = 3.0f;
v4(3) = 4.0f;
Vector<3> vres3;
Matrix<3,3> mres3;
Matrix<4,4> mres4;
unsigned int n = 60000;
hrt_abstime t0, t1;
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
vres3 = m3 * v3;
}
t1 = hrt_absolute_time();
warnx("Matrix3 * Vector3: %s %.6fus", formatResult(vres3 == v3), (double)(t1 - t0) / n);
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
mres3 = m3 * m3;
}
t1 = hrt_absolute_time();
warnx("Matrix3 * Matrix3: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
mres4 = m4 * m4;
}
t1 = hrt_absolute_time();
warnx("Matrix4 * Matrix4: %s %.6fus", formatResult(mres4 == m4), (double)(t1 - t0) / n);
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
mres3 = m3.transposed();
}
t1 = hrt_absolute_time();
warnx("Matrix3 Transpose: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
mres3 = m3.inversed();
}
t1 = hrt_absolute_time();
warnx("Matrix3 Invert: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
return 0;
}
|