mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.4 KiB
C++
104 lines
3.4 KiB
C++
/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_gbenchmark.h>
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#include <AP_Math/AP_GeodesicGrid.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static const Vector3f triangles[20][3] = {
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{{-M_GOLDEN, 1, 0}, {-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}},
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{{-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN,-1}},
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{{-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN,-1}, { 0,-M_GOLDEN, 1}},
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{{-1, 0,-M_GOLDEN}, { 0,-M_GOLDEN,-1}, { 1, 0,-M_GOLDEN}},
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{{ 0,-M_GOLDEN,-1}, { 0,-M_GOLDEN, 1}, { M_GOLDEN,-1, 0}},
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{{ 0,-M_GOLDEN,-1}, { 1, 0,-M_GOLDEN}, { M_GOLDEN,-1, 0}},
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{{ M_GOLDEN,-1, 0}, { 1, 0,-M_GOLDEN}, { M_GOLDEN, 1, 0}},
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{{ 1, 0,-M_GOLDEN}, { M_GOLDEN, 1, 0}, { 0, M_GOLDEN,-1}},
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{{ 1, 0,-M_GOLDEN}, { 0, M_GOLDEN,-1}, {-1, 0,-M_GOLDEN}},
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{{ 0, M_GOLDEN,-1}, {-M_GOLDEN, 1, 0}, {-1, 0,-M_GOLDEN}},
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{{ M_GOLDEN,-1, 0}, { 1, 0, M_GOLDEN}, { M_GOLDEN, 1, 0}},
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{{ 1, 0, M_GOLDEN}, { M_GOLDEN, 1, 0}, { 0, M_GOLDEN, 1}},
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{{ M_GOLDEN, 1, 0}, { 0, M_GOLDEN, 1}, { 0, M_GOLDEN,-1}},
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{{ 1, 0, M_GOLDEN}, { 0, M_GOLDEN, 1}, {-1, 0, M_GOLDEN}},
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{{ 0, M_GOLDEN, 1}, { 0, M_GOLDEN,-1}, {-M_GOLDEN, 1, 0}},
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{{ 0, M_GOLDEN, 1}, {-1, 0, M_GOLDEN}, {-M_GOLDEN, 1, 0}},
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{{-M_GOLDEN, 1, 0}, {-1, 0, M_GOLDEN}, {-M_GOLDEN,-1, 0}},
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{{-1, 0, M_GOLDEN}, {-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN, 1}},
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{{-1, 0, M_GOLDEN}, { 0,-M_GOLDEN, 1}, { 1, 0, M_GOLDEN}},
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{{ 0,-M_GOLDEN, 1}, { M_GOLDEN,-1, 0}, { 1, 0, M_GOLDEN}},
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};
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static bool section_triangle(unsigned int section_index,
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Vector3f& a,
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Vector3f& b,
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Vector3f& c) {
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if (section_index >= 80) {
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return false;
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}
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unsigned int i = section_index / 4;
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unsigned int j = section_index % 4;
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auto& t = triangles[i];
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Vector3f mt[3]{(t[0] + t[1]) / 2, (t[1] + t[2]) / 2, (t[2] + t[0]) / 2};
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switch (j) {
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case 0:
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a = mt[0];
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b = mt[1];
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c = mt[2];
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break;
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case 1:
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a = t[0];
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b = mt[0];
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c = mt[2];
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break;
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case 2:
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a = mt[0];
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b = t[1];
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c = mt[1];
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break;
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case 3:
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a = mt[2];
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b = mt[1];
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c = t[2];
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break;
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}
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return true;
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}
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static void BM_GeodesicGridSections(benchmark::State& state)
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{
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Vector3f v, a, b, c;
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int section = state.range(0);
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section_triangle(section, a, b, c);
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v = (a + b + c) / 3.0f;
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while (state.KeepRunning()) {
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int s = AP_GeodesicGrid::section(v);
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gbenchmark_escape(&s);
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}
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}
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/* Benchmark each section */
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BENCHMARK(BM_GeodesicGridSections)->DenseRange(0, 79);
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BENCHMARK_MAIN();
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