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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeLinearize.h
* @brief time linearize
* @author Frank Dellaert
* @date October 10, 2014
*/
#pragma once
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <time.h>
#include <iostream>
#include <iomanip>
static const int n = 1000000;
void timeSingleThreaded(const std::string& str,
const gtsam::NonlinearFactor::shared_ptr& f, const gtsam::Values& values) {
long timeLog = clock();
gtsam::GaussianFactor::shared_ptr gf;
for (int i = 0; i < n; i++)
gf = f->linearize(values);
long timeLog2 = clock();
double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
std::cout << std::setprecision(3);
std::cout << str << ((double) seconds * 1000000 / n) << " musecs/call"
<< std::endl;
}
void timeMultiThreaded(const std::string& str,
const gtsam::NonlinearFactor::shared_ptr& f, const gtsam::Values& values) {
gtsam::NonlinearFactorGraph graph;
for (int i = 0; i < n; i++)
graph.push_back(f);
long timeLog = clock();
gtsam::GaussianFactorGraph::shared_ptr gfg = graph.linearize(values);
long timeLog2 = clock();
double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
std::cout << std::setprecision(3);
std::cout << str << ((double) seconds * 1000000 / n) << " musecs/call"
<< std::endl;
}
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