jacobiandoubletests.cpp

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#include "jacobiandoubletests.hpp"
 
namespace KDL {
 
 
void checkDoubleOps() {
    KDL_CTX;
    checkUnary<OpTan,double>::check();
    checkUnary<OpExp,double>::check();
    checkUnary<OpSin,double>::check();
    checkUnary<OpCos,double>::check();
    checkUnary<OpLog,double>::check(&posrandom);
    checkUnary<OpAtan,double>::check();
    checkUnary<OpAsin,double>::check(&random,1E-8,1E-3);
    checkUnary<OpAcos,double>::check(&random,1E-8,1E-3);
    checkUnary<OpSqrt,double>::check(&posrandom);
    checkBinary<OpMult,double,double>::check();
    checkBinary<OpAtan2,double,double>::check(1E-8,1E-3);
}
 
/*
void checkDoubleCodeSize() {
    PV<double> a(2);
    PV<double> b(2);
    PV<double> res(2);
    random(a);
    random(b);
    checkDoubleCodeSizeMult(a,b,res);
}
** VISUAL C++ assembler code : 
 * Shows that there is little overhead from the framework
 * There is some overhead because of the isConstant() tests, but this pays itself back
 * if one deals with e.g. Frames or higher number of derivatives.
 *
?checkDoubleCodeSizeMult@@YAXABV?$PV@N@@0AAV1@@Z PROC NEAR ; checkDoubleCodeSizeMult, COMDAT
 
; 60   :    res = a*b;
 
    mov ecx, DWORD PTR _b$[esp-4]
    mov edx, DWORD PTR _res$[esp-4]
    push    esi
    mov esi, DWORD PTR _a$[esp]
    fld QWORD PTR [esi]
    mov al, BYTE PTR [esi+16]
    test    al, al
    fmul    QWORD PTR [ecx]
    push    edi
    fstp    QWORD PTR [edx]
    je  SHORT $L13435
    mov al, BYTE PTR [ecx+16]
    test    al, al
    je  SHORT $L13435
    mov eax, 1
    jmp SHORT $L13436
$L13435:
    xor eax, eax
$L13436:
    test    al, al
    mov BYTE PTR [edx+16], al
    jne SHORT $L13419
    mov edi, DWORD PTR [edx+12]
    xor eax, eax
    test    edi, edi
    jle SHORT $L13419
    mov edx, DWORD PTR [edx+8]
    push    ebx
$L13417:
    mov bl, BYTE PTR [esi+16]
    test    bl, bl
    je  SHORT $L13446
    mov ebx, DWORD PTR [ecx+8]
    fld QWORD PTR [ebx+eax*8]
    fmul    QWORD PTR [esi]
    jmp SHORT $L13445
$L13446:
    mov bl, BYTE PTR [ecx+16]
    test    bl, bl
    je  SHORT $L13447
    mov ebx, DWORD PTR [esi+8]
    fld QWORD PTR [ebx+eax*8]
    fmul    QWORD PTR [ecx]
    jmp SHORT $L13445
$L13447:
    mov ebx, DWORD PTR [ecx+8]
    fld QWORD PTR [ebx+eax*8]
    mov ebx, DWORD PTR [esi+8]
    fmul    QWORD PTR [esi]
    fld QWORD PTR [ebx+eax*8]
    fmul    QWORD PTR [ecx]
    faddp   ST(1), ST(0)
$L13445:
    fstp    QWORD PTR [edx+eax*8]
    inc eax
    cmp eax, edi
    jl  SHORT $L13417
    pop ebx
$L13419:
    pop edi
    pop esi
 
; 61   : }
 
*
void checkDoubleCodeSizeMult(const PV<double>& a,const PV<double>& b,PV<double>& res) {
    res = a*b;
}*/
 
} // namespace