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[filter] support constexpr linear algebra
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,111 @@ | ||
| /* __ _ __ __ _ _ | ||
| | |/ / /\ | | | \/ | /\ | \ | | | ||
| | ' / / \ | | | \ / | / \ | \| | | ||
| | < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| | . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
| |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
| Kalman Filter | ||
| Version 0.2.0 | ||
| https://github.com/FrancoisCarouge/Kalman | ||
| SPDX-License-Identifier: Unlicense | ||
| This is free and unencumbered software released into the public domain. | ||
| Anyone is free to copy, modify, publish, use, compile, sell, or | ||
| distribute this software, either in source code form or as a compiled | ||
| binary, for any purpose, commercial or non-commercial, and by any | ||
| means. | ||
| In jurisdictions that recognize copyright laws, the author or authors | ||
| of this software dedicate any and all copyright interest in the | ||
| software to the public domain. We make this dedication for the benefit | ||
| of the public at large and to the detriment of our heirs and | ||
| successors. We intend this dedication to be an overt act of | ||
| relinquishment in perpetuity of all present and future rights to this | ||
| software under copyright law. | ||
| 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 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. | ||
| For more information, please refer to <https://unlicense.org> */ | ||
|
|
||
| #include "benchmark.hpp" | ||
| #include "fcarouge/internal/utility.hpp" | ||
| #include "fcarouge/kalman.hpp" | ||
| #include "fcarouge/linalg.hpp" | ||
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|
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| #include <benchmark/benchmark.h> | ||
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| #include <algorithm> | ||
| #include <chrono> | ||
| #include <cmath> | ||
| #include <cstddef> | ||
| #include <cstdint> | ||
| #include <cstring> | ||
| #include <random> | ||
|
|
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| namespace fcarouge::benchmark { | ||
| namespace { | ||
|
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| template <auto Size> using vector = linalg::column_vector<float, Size>; | ||
|
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| //! @benchmark Measure the prediction of the filter for different dimensions of | ||
| //! states and inputs with the Eigen linear algebra backend. | ||
| template <std::size_t StateSize, std::size_t InputSize> | ||
| void eigen_predict(::benchmark::State &state) { | ||
| using kalman = | ||
| kalman<vector<StateSize>, /*float*/ vector<1>, vector<InputSize>>; | ||
|
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| kalman filter; | ||
| std::random_device random_device; | ||
| std::mt19937 random_generator{random_device()}; | ||
| std::uniform_real_distribution<float> uniformly_distributed; | ||
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| for (auto _ : state) { | ||
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| float uv[InputSize]; | ||
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| internal::for_constexpr<std::size_t{0}, InputSize, 1>( | ||
| [&uv, &uniformly_distributed, &random_generator](auto position) { | ||
| uv[position] = uniformly_distributed(random_generator); | ||
| }); | ||
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| typename kalman::input u{uv}; | ||
|
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| ::benchmark::ClobberMemory(); | ||
| const auto start{clock::now()}; | ||
|
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| filter.predict(u); | ||
|
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| ::benchmark::ClobberMemory(); | ||
| const auto end{clock::now()}; | ||
|
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| state.SetIterationTime(std::chrono::duration<double>{end - start}.count()); | ||
| } | ||
| } | ||
|
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| //! @todo Find a way to remove macros or find a different benchmark library that | ||
| //! doesn't use macros. | ||
| BENCHMARK(eigen_predict<${STATE_SIZE}, ${INPUT_SIZE}>) | ||
| ->Name("eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}") | ||
| ->Unit(::benchmark::kNanosecond) | ||
| ->ComputeStatistics("min", | ||
| [](const auto &results) { | ||
| return std::ranges::min(results); | ||
| }) | ||
| -> ComputeStatistics("max", | ||
| [](const auto &results) { | ||
| return std::ranges::max(results); | ||
| }) -> UseManualTime() | ||
| -> Complexity(::benchmark::oAuto) -> DisplayAggregatesOnly(true) | ||
| -> Repetitions(100); | ||
|
|
||
| } // namespace | ||
| } // namespace fcarouge::benchmark |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,111 @@ | ||
| /* __ _ __ __ _ _ | ||
| | |/ / /\ | | | \/ | /\ | \ | | | ||
| | ' / / \ | | | \ / | / \ | \| | | ||
| | < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| | . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
| |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
| Kalman Filter | ||
| Version 0.2.0 | ||
| https://github.com/FrancoisCarouge/Kalman | ||
| SPDX-License-Identifier: Unlicense | ||
| This is free and unencumbered software released into the public domain. | ||
| Anyone is free to copy, modify, publish, use, compile, sell, or | ||
| distribute this software, either in source code form or as a compiled | ||
| binary, for any purpose, commercial or non-commercial, and by any | ||
| means. | ||
| In jurisdictions that recognize copyright laws, the author or authors | ||
| of this software dedicate any and all copyright interest in the | ||
| software to the public domain. We make this dedication for the benefit | ||
| of the public at large and to the detriment of our heirs and | ||
| successors. We intend this dedication to be an overt act of | ||
| relinquishment in perpetuity of all present and future rights to this | ||
| software under copyright law. | ||
| 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 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. | ||
| For more information, please refer to <https://unlicense.org> */ | ||
|
|
||
| #include "benchmark.hpp" | ||
| #include "fcarouge/internal/utility.hpp" | ||
| #include "fcarouge/kalman.hpp" | ||
| #include "fcarouge/linalg.hpp" | ||
|
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| #include <benchmark/benchmark.h> | ||
|
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| #include <algorithm> | ||
| #include <chrono> | ||
| #include <cmath> | ||
| #include <cstddef> | ||
| #include <cstdint> | ||
| #include <cstring> | ||
| #include <random> | ||
|
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| namespace fcarouge::benchmark { | ||
| namespace { | ||
|
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| template <auto Size> using vector = linalg::column_vector<float, Size>; | ||
|
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| //! @benchmark Measure the update of the filter for different dimensions of | ||
| //! states and outputs with the Eigen linear algebra backend. | ||
| template <std::size_t StateSize, std::size_t OutputSize> | ||
| void eigen_update(::benchmark::State &state) { | ||
|
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| using kalman = kalman<vector<StateSize>, vector<OutputSize>, void>; | ||
|
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| kalman filter; | ||
| std::random_device random_device; | ||
| std::mt19937 random_generator{random_device()}; | ||
| std::uniform_real_distribution<float> uniformly_distributed; | ||
|
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| for (auto _ : state) { | ||
|
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| float zv[OutputSize]; | ||
|
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| internal::for_constexpr<std::size_t{0}, OutputSize, 1>( | ||
| [&zv, &uniformly_distributed, &random_generator](auto position) { | ||
| zv[position] = uniformly_distributed(random_generator); | ||
| }); | ||
|
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| typename kalman::output z{zv}; | ||
|
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| ::benchmark::ClobberMemory(); | ||
| const auto start{clock::now()}; | ||
|
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| filter.update(z); | ||
|
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| ::benchmark::ClobberMemory(); | ||
| const auto end{clock::now()}; | ||
|
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| state.SetIterationTime(std::chrono::duration<double>{end - start}.count()); | ||
| } | ||
| } | ||
|
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| //! @todo Find a way to remove macros or find a different benchmark library that | ||
| //! doesn't use macros. | ||
| BENCHMARK(eigen_update<${STATE_SIZE}, ${OUTPUT_SIZE}>) | ||
| ->Name("eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0") | ||
| ->Unit(::benchmark::kNanosecond) | ||
| ->ComputeStatistics("min", | ||
| [](const auto &results) { | ||
| return std::ranges::min(results); | ||
| }) | ||
| -> ComputeStatistics("max", | ||
| [](const auto &results) { | ||
| return std::ranges::max(results); | ||
| }) -> UseManualTime() | ||
| -> Complexity(::benchmark::oAuto) -> DisplayAggregatesOnly(true) | ||
| -> Repetitions(100); | ||
|
|
||
| } // namespace | ||
| } // namespace fcarouge::benchmark |
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