v01

thirdparty/opengv/test/test_Sturm.cpp

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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;
+}