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#
# MIT No Attribution
#
# Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy of this
# software and associated documentation files (the "Software"), to deal in the Software
# without restriction, including without limitation the rights to use, copy, modify,
# merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
# INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
# PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
# HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
# SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#
#
from casadi import *
from numpy import *
from os import system
import time
import sys
compileme = True # Flag wether compiling should take place or not
if len(sys.argv)>1 and sys.argv[1]=='nc':
compileme = False
else:
print("Info: Use 'python c_code_generation.py nc' to omit compiling")
# Form an expression for the gradient of the determinant
x = SX.sym('x', 7, 7)
gd = casadi.gradient(det(x), x)
# Random point to evaluate it
x0 = DM.rand(7, 7)
# Form a function and generate C code
name = 'grad_det'
grad_det = Function(name, [x], [gd], ['x'], ['gd'])
cname = grad_det.generate()
oname_no_opt = name + '_no_opt.so'
print('Compiling without optimization: ', oname_no_opt)
t1 = time.time()
if compileme:
system('gcc -fPIC -shared ' + cname + ' -o ' + oname_no_opt)
t2 = time.time()
print('time = ', (t2-t1)*1e3, ' ms')
oname_O3 = name + '_O3.so'
print('Compiling with O3 optimization: ', oname_O3)
t1 = time.time()
if compileme:
system('gcc -fPIC -shared -O3 ' + cname + ' -o ' + oname_O3)
t2 = time.time()
print('time = ', (t2-t1)*1e3, ' ms')
oname_Os = name + '_Os.so'
print('Compiling with Os optimization: ', oname_Os)
t1 = time.time()
if compileme:
system('gcc -fPIC -shared -Os ' + cname + ' -o ' + oname_Os)
t2 = time.time()
print('time = ', (t2-t1)*1e3, ' ms')
# Read function
grad_det_no_opt = external(name, './'+oname_no_opt)
grad_det_O3 = external(name, './'+oname_O3)
grad_det_Os = external(name, './'+oname_O3)
f_test = [grad_det, grad_det_no_opt, grad_det_O3, grad_det_Os]
for f in f_test:
t1 = time.time()
nrep = 10000
for r in range(nrep):
r = f(x0)
t2 = time.time()
print('result = ', r.nonzeros())
dt = (t2-t1)/nrep
print('time = ', dt*1e3, ' ms')
num_op = grad_det.n_nodes()
print('number of elementary operations: ', num_op)
print('time per elementary operations: ', dt/num_op*1e9, ' ns')
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