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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions *
* are met: *
* * Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* * 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. *
* * Neither the name of ANU 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 ANU OR THE 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. *
******************************************************************************/
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <opengv/math/Sturm.hpp>
#include "time_measurement.hpp"
using namespace std;
using namespace Eigen;
using namespace opengv;
int main( int argc, char** argv )
{
std::vector<double> coeffs;
coeffs.push_back(1.0);
coeffs.push_back(4.0);
coeffs.push_back(1.0);
coeffs.push_back(-6.0);
//timer
struct timeval tic;
struct timeval toc;
size_t iterations = 50;
//for now just construct the problem
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
math::Sturm sturm(coeffs);
gettimeofday( &toc, 0 );
double time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "the initialization takes " << time << " seconds" << std::endl;
math::Sturm sturm(coeffs);
//test the lagrangian bounds
gettimeofday( &tic, 0 );
double bound;
for(size_t i = 0; i < iterations; i++)
bound = sturm.computeLagrangianBound();
gettimeofday( &toc, 0 );
time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "the initial bound computation takes " << time << " seconds" << std::endl;
std::cout << "the bound evaluates to " << bound << std::endl;
//now evaluate the chain to verify that the number of roots is 3
gettimeofday( &tic, 0 );
size_t numberRoots;
for(size_t i = 0; i < iterations; i++)
numberRoots = sturm.evaluateChain(-bound) - sturm.evaluateChain(bound);
gettimeofday( &toc, 0 );
time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "the evaluation of two bounds takes " << time << " seconds" << std::endl;
std::cout << "the obtained number of roots is " << numberRoots << std::endl;
//now test the bracketing mechanism
gettimeofday( &tic, 0 );
std::vector<double> roots;
for(size_t i = 0; i < iterations; i++)
{
roots.clear();
sturm.bracketRoots(roots,0.5);
}
gettimeofday( &toc, 0 );
time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "the bracketing of the roots took " << time << " seconds" << std::endl;
std::cout << "the obtained brackets are:" << std::endl;
std::vector<double>::iterator it = roots.begin();
while( it != roots.end() )
{
std::cout << "root:" << (*it) << std::endl;
it++;
}
//now test the entire root-finding mechanism
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
roots = sturm.findRoots();
gettimeofday( &toc, 0 );
time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "the entire finding of the roots took " << time << " seconds" << std::endl;
std::cout << "the obtained roots are:" << std::endl;
std::vector<double>::iterator it2 = roots.begin();
while( it2 != roots.end() )
{
std::cout << (*it2) << std::endl;
it2++;
}
//now test the new root-finding with inbuild gradient descent
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
{
roots.clear();
sturm.findRoots2(roots);
}
gettimeofday( &toc, 0 );
time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "the entire finding of the roots took " << time << " seconds" << std::endl;
std::cout << "the obtained roots are:" << std::endl;
it2 = roots.begin();
while( it2 != roots.end() )
{
std::cout << (*it2) << std::endl;
it2++;
}
return 0;
}
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