diff --git a/README.md b/README.md index aac23c16f4..68816c4f48 100644 --- a/README.md +++ b/README.md @@ -18,6 +18,7 @@ The library supports simple and extended filters. The update equation uses the J - [Modifiers](#modifiers) - [Format](#format) - [Installation](#installation) +- [Performance](#performance) - [Motivation](#motivation) - [Resources](#resources) - [Third Party Acknowledgement](#third-party-acknowledgement) @@ -267,7 +268,11 @@ std::string message{ std::format("{}", k) }; # Installation -See installaton instructions in [INSTALL.txt](INSTALL.txt). +See installation instructions in [INSTALL.txt](INSTALL.txt). + +# Performance + +The [benchmarks](benchmark) share some performance information. # Motivation diff --git a/benchmark/README.md b/benchmark/README.md new file mode 100644 index 0000000000..a9884a8ffb --- /dev/null +++ b/benchmark/README.md @@ -0,0 +1,12 @@ +# Benchmark Results + +![Float](float.svg) +![Float 1x1x0](float1x1x0.svg) +![Float 1x1x1](float1x1x1.svg) +![Baseline](baseline.svg) +![Update Float 1x1x0](update1x1x0.svg) +![Update Float 1x1x1](update1x1x1.svg) +![Predict Float 1x1x0](predict1x1x0.svg) +![Predict Float 1x1x1](predict1x1x1.svg) +![Function Call Operator 1x1x0](operator1x1x0.svg) +![Function Call Operator 1x1x1](operator1x1x1.svg) diff --git a/benchmark/benchmark_simple.cpp b/benchmark/baseline.cpp similarity index 92% rename from benchmark/benchmark_simple.cpp rename to benchmark/baseline.cpp index e878a04651..f51c117783 100644 --- a/benchmark/benchmark_simple.cpp +++ b/benchmark/baseline.cpp @@ -47,14 +47,14 @@ namespace fcarouge::benchmark { namespace { -//! @benchmark Measure performance. -void benchmark_simple(::benchmark::State &state) +//! @benchmark Measure baseline, empty benchmark performance. +void baseline(::benchmark::State &state) { for (auto _ : state) { - const auto start{ clock::now() }; ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; - // Measure. + // Nothing to measure but the benchmark. ::benchmark::ClobberMemory(); const auto end{ clock::now() }; @@ -65,8 +65,8 @@ void benchmark_simple(::benchmark::State &state) } } -BENCHMARK(benchmark_simple) - ->Name("Benchmark Simple") +BENCHMARK(baseline) + ->Name("baseline") ->Unit(::benchmark::kNanosecond) ->ComputeStatistics("min", [](const auto &results) { @@ -77,7 +77,7 @@ BENCHMARK(benchmark_simple) return std::ranges::max(results); }) -> UseManualTime() -> Complexity(::benchmark::oAuto) -> DisplayAggregatesOnly(true) - -> Repetitions(10); + -> Repetitions(100); } // namespace } // namespace fcarouge::benchmark diff --git a/benchmark/baseline.plt b/benchmark/baseline.plt new file mode 100644 index 0000000000..85f18573db --- /dev/null +++ b/benchmark/baseline.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Baseline Benchmark}\n{/*0.8 No code benchmark.}" +set output "baseline.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [27 : 30] +set ytics .2 +set xtics ("Baseline - No Code" 0) + +plot "/tmp/baseline.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/baseline.svg b/benchmark/baseline.svg new file mode 100644 index 0000000000..f6a2db0a0d --- /dev/null +++ b/benchmark/baseline.svg @@ -0,0 +1,401 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 27 + + + + + + + + + + + + + 27.2 + + + + + + + + + + + + + 27.4 + + + + + + + + + + + + + 27.6 + + + + + + + + + + + + + 27.8 + + + + + + + + + + + + + 28 + + + + + + + + + + + + + 28.2 + + + + + + + + + + + + + 28.4 + + + + + + + + + + + + + 28.6 + + + + + + + + + + + + + 28.8 + + + + + + + + + + + + + 29 + + + + + + + + + + + + + 29.2 + + + + + + + + + + + + + 29.4 + + + + + + + + + + + + + 29.6 + + + + + + + + + + + + + 29.8 + + + + + + + + + + + + + 30 + + + + + Baseline - No Code + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 28.67 + + + + gnuplot_plot_5 + + + 28.24 + + + + gnuplot_plot_6 + + + 28.07 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 28.31 + + + + gnuplot_plot_9 + + + 28.24 (cv: 0.2 %) + + + + gnuplot_plot_10 + + + 28.17 + + + + + + + + + + + + + + Baseline Benchmark + + + No code benchmark. + + + + + + + diff --git a/benchmark/benchmark.bat b/benchmark/benchmark.bat new file mode 100644 index 0000000000..59867a273f --- /dev/null +++ b/benchmark/benchmark.bat @@ -0,0 +1,53 @@ +:: _ __ _ __ __ _ _ +:: | |/ / /\ | | | \/ | /\ | \ | | +:: | ' / / \ | | | \ / | / \ | \| | +:: | < / /\ \ | | | |\/| | / /\ \ | . ` | +:: | . \ / ____ \| |____| | | |/ ____ \| |\ | +:: |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +:: Kalman Filter for C++ +:: Version 0.1.0 +:: 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 + +@echo off +cd .. +cl ^ + /EHsc /O2 /MD /std:c++latest ^ + /D NDEBUG ^ + /I include /I ^ + "F:\Drive\Projects\cpp\vcpkg\packages\eigen3_x86-windows\include\eigen3" /I ^ + "F:\Drive\Projects\cpp\vcpkg\packages\benchmark_x86-windows\include" ^ + "benchmark/*.cpp" ^ + /Fe:"kalman.exe" ^ + /link ^ + "F:\Drive\Projects\cpp\vcpkg\packages\benchmark_x86-windows\lib\benchmark.lib" ^ + "shlwapi.lib" +start "" /affinity 2 /Realtime "kalman.exe" --benchmark_out="benchmark/results.json" +cd benchmark diff --git a/benchmark/float.plt b/benchmark/float.plt new file mode 100644 index 0000000000..40ccf439c8 --- /dev/null +++ b/benchmark/float.plt @@ -0,0 +1,59 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 720,720 +set datafile separator "," +set title "{/:Bold Float Group Benchmark}\n" +set output "float.svg" +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 6.5 ] +set style fill solid border linecolor "black" +set yrange [20 : 50] +set ytics 1 +set xtics ("Baseline - No Code" 0, "Predict 1x1x0" 1, "Predict 1x1x1" 2, "Update 1x1x0" 3, "Update 1x1x1" 4, "Operator() 1x1x0" 5, "Operator() 1x1x1" 6) rotate by 345 + +plot "/tmp/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \ + "/tmp/predict1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/predict1x1x1.csv" using (2):1 with boxes linecolor rgb "#F1C40F" notitle, \ + "/tmp/update1x1x0.csv" using (3):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/update1x1x1.csv" using (4):1 with boxes linecolor rgb "#F1C40F" notitle, \ + "/tmp/operator1x1x0.csv" using (5):1 with boxes linecolor rgb "#F4D03F" notitle , \ + "/tmp/operator1x1x1.csv" using (6):1 with boxes linecolor rgb "#F1C40F" notitle diff --git a/benchmark/float.svg b/benchmark/float.svg new file mode 100644 index 0000000000..fcf12d6a8a --- /dev/null +++ b/benchmark/float.svg @@ -0,0 +1,576 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + + + + + + + + + + + + 21 + + + + + + + + + + + + + 22 + + + + + + + + + + + + + 23 + + + + + + + + + + + + + 24 + + + + + + + + + + + + + 25 + + + + + + + + + + + + + 26 + + + + + + + + + + + + + 27 + + + + + + + + + + + + + 28 + + + + + + + + + + + + + 29 + + + + + + + + + + + + + 30 + + + + + + + + + + + + + 31 + + + + + + + + + + + + + 32 + + + + + + + + + + + + + 33 + + + + + + + + + + + + + 34 + + + + + + + + + + + + + 35 + + + + + + + + + + + + + 36 + + + + + + + + + + + + + 37 + + + + + + + + + + + + + 38 + + + + + + + + + + + + + 39 + + + + + + + + + + + + + 40 + + + + + + + + + + + + + 41 + + + + + + + + + + + + + 42 + + + + + + + + + + + + + 43 + + + + + + + + + + + + + 44 + + + + + + + + + + + + + 45 + + + + + + + + + + + + + 46 + + + + + + + + + + + + + 47 + + + + + + + + + + + + + 48 + + + + + + + + + + + + + 49 + + + + + + + + + + + + + 50 + + + + + Baseline - No Code + + + + + Predict 1x1x0 + + + + + Predict 1x1x1 + + + + + Update 1x1x0 + + + + + Update 1x1x1 + + + + + Operator() 1x1x0 + + + + + Operator() 1x1x1 + + + + + + + + + Time (ns) + + + + + gnuplot_plot_1 + + + + + + + + + gnuplot_plot_2 + + + + + + + + + gnuplot_plot_3 + + + + + + + + + gnuplot_plot_4 + + + + + + + + + gnuplot_plot_5 + + + + + + + + + gnuplot_plot_6 + + + + + + + + + gnuplot_plot_7 + + + + + + + + + + + + + + + + + + + Float Group Benchmark + + + + + + + + + + diff --git a/benchmark/float1x1x0.plt b/benchmark/float1x1x0.plt new file mode 100644 index 0000000000..b56500baf5 --- /dev/null +++ b/benchmark/float1x1x0.plt @@ -0,0 +1,56 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Float 1x1x0 Group Benchmark}\n" +set output "float1x1x0.svg" +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 3.5 ] +set style fill solid border linecolor "black" +set yrange [20 : 50] +set ytics 1 +set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2, "Operator()" 3) rotate by 345 + +plot "/tmp/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \ + "/tmp/predict1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/update1x1x0.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/operator1x1x0.csv" using (3):1 with boxes linecolor rgb "#F4D03F" notitle diff --git a/benchmark/float1x1x0.svg b/benchmark/float1x1x0.svg new file mode 100644 index 0000000000..18817326ca --- /dev/null +++ b/benchmark/float1x1x0.svg @@ -0,0 +1,534 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + + + + + + + + + + + + 21 + + + + + + + + + + + + + 22 + + + + + + + + + + + + + 23 + + + + + + + + + + + + + 24 + + + + + + + + + + + + + 25 + + + + + + + + + + + + + 26 + + + + + + + + + + + + + 27 + + + + + + + + + + + + + 28 + + + + + + + + + + + + + 29 + + + + + + + + + + + + + 30 + + + + + + + + + + + + + 31 + + + + + + + + + + + + + 32 + + + + + + + + + + + + + 33 + + + + + + + + + + + + + 34 + + + + + + + + + + + + + 35 + + + + + + + + + + + + + 36 + + + + + + + + + + + + + 37 + + + + + + + + + + + + + 38 + + + + + + + + + + + + + 39 + + + + + + + + + + + + + 40 + + + + + + + + + + + + + 41 + + + + + + + + + + + + + 42 + + + + + + + + + + + + + 43 + + + + + + + + + + + + + 44 + + + + + + + + + + + + + 45 + + + + + + + + + + + + + 46 + + + + + + + + + + + + + 47 + + + + + + + + + + + + + 48 + + + + + + + + + + + + + 49 + + + + + + + + + + + + + 50 + + + + + Baseline - No Code + + + + + Predict + + + + + Update + + + + + Operator() + + + + + + + + + Time (ns) + + + + + gnuplot_plot_1 + + + + + + + + + gnuplot_plot_2 + + + + + + + + + gnuplot_plot_3 + + + + + + + + + gnuplot_plot_4 + + + + + + + + + + + + + + + + + + + Float 1x1x0 Group Benchmark + + + + + + + + + + diff --git a/benchmark/float1x1x1.plt b/benchmark/float1x1x1.plt new file mode 100644 index 0000000000..1f9b952dd6 --- /dev/null +++ b/benchmark/float1x1x1.plt @@ -0,0 +1,56 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Float 1x1x1 Group Benchmark}\n" +set output "float1x1x1.svg" +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 3.5 ] +set style fill solid border linecolor "black" +set yrange [20 : 50] +set ytics 1 +set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2, "Operator()" 3) rotate by 345 + +plot "/tmp/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \ + "/tmp/predict1x1x1.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/update1x1x1.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/operator1x1x1.csv" using (3):1 with boxes linecolor rgb "#F4D03F" notitle diff --git a/benchmark/float1x1x1.svg b/benchmark/float1x1x1.svg new file mode 100644 index 0000000000..ac2c907712 --- /dev/null +++ b/benchmark/float1x1x1.svg @@ -0,0 +1,534 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + + + + + + + + + + + + 21 + + + + + + + + + + + + + 22 + + + + + + + + + + + + + 23 + + + + + + + + + + + + + 24 + + + + + + + + + + + + + 25 + + + + + + + + + + + + + 26 + + + + + + + + + + + + + 27 + + + + + + + + + + + + + 28 + + + + + + + + + + + + + 29 + + + + + + + + + + + + + 30 + + + + + + + + + + + + + 31 + + + + + + + + + + + + + 32 + + + + + + + + + + + + + 33 + + + + + + + + + + + + + 34 + + + + + + + + + + + + + 35 + + + + + + + + + + + + + 36 + + + + + + + + + + + + + 37 + + + + + + + + + + + + + 38 + + + + + + + + + + + + + 39 + + + + + + + + + + + + + 40 + + + + + + + + + + + + + 41 + + + + + + + + + + + + + 42 + + + + + + + + + + + + + 43 + + + + + + + + + + + + + 44 + + + + + + + + + + + + + 45 + + + + + + + + + + + + + 46 + + + + + + + + + + + + + 47 + + + + + + + + + + + + + 48 + + + + + + + + + + + + + 49 + + + + + + + + + + + + + 50 + + + + + Baseline - No Code + + + + + Predict + + + + + Update + + + + + Operator() + + + + + + + + + Time (ns) + + + + + gnuplot_plot_1 + + + + + + + + + gnuplot_plot_2 + + + + + + + + + gnuplot_plot_3 + + + + + + + + + gnuplot_plot_4 + + + + + + + + + + + + + + + + + + + Float 1x1x1 Group Benchmark + + + + + + + + + + diff --git a/benchmark/benchmark_full.cpp b/benchmark/operator1x1x0.cpp similarity index 87% rename from benchmark/benchmark_full.cpp rename to benchmark/operator1x1x0.cpp index 12e312aadd..4765f07edd 100644 --- a/benchmark/benchmark_full.cpp +++ b/benchmark/operator1x1x0.cpp @@ -37,6 +37,7 @@ OTHER DEALINGS IN THE SOFTWARE. For more information, please refer to */ #include "fcarouge/benchmark/benchmark.hpp" +#include "fcarouge/kalman.hpp" #include @@ -47,16 +48,17 @@ namespace fcarouge::benchmark { namespace { -//! @benchmark Measure performance. -void benchmark_full(::benchmark::State &state) +//! @benchmark Measure predict, empty benchmark performance. +void operator1x1x0(::benchmark::State &state) { for (auto _ : state) { - // Argument value is: state.range(0) + using kalman = fcarouge::kalman; + kalman k; - const auto start{ clock::now() }; ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; - // Measure. + k(); ::benchmark::ClobberMemory(); const auto end{ clock::now() }; @@ -67,8 +69,8 @@ void benchmark_full(::benchmark::State &state) } } -BENCHMARK(benchmark_full) - ->Name("Benchmark Full") +BENCHMARK(operator1x1x0) + ->Name("operator1x1x0") ->Unit(::benchmark::kNanosecond) ->ComputeStatistics("min", [](const auto &results) { @@ -77,9 +79,9 @@ BENCHMARK(benchmark_full) -> ComputeStatistics("max", [](const auto &results) { return std::ranges::max(results); - }) -> Arg(0) -> UseManualTime() + }) -> UseManualTime() -> Complexity(::benchmark::oAuto) -> DisplayAggregatesOnly(true) - -> RangeMultiplier(2) -> Repetitions(10) -> Range(1, 1 << 3); + -> Repetitions(100); } // namespace } // namespace fcarouge::benchmark diff --git a/benchmark/operator1x1x0.plt b/benchmark/operator1x1x0.plt new file mode 100644 index 0000000000..a317c5eda2 --- /dev/null +++ b/benchmark/operator1x1x0.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Function Call Operator 1x1x0 Float Benchmark}\n{/*0.8 kalman::operator()}" +set output "operator1x1x0.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [40 : 66] +set ytics 1 +set xtics ("Operator() 1x1x0 Float" 0) + +plot "/tmp/operator1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/operator1x1x0.svg b/benchmark/operator1x1x0.svg new file mode 100644 index 0000000000..5db3b3ff7a --- /dev/null +++ b/benchmark/operator1x1x0.svg @@ -0,0 +1,531 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 40 + + + + + + + + + + + + + 41 + + + + + + + + + + + + + 42 + + + + + + + + + + + + + 43 + + + + + + + + + + + + + 44 + + + + + + + + + + + + + 45 + + + + + + + + + + + + + 46 + + + + + + + + + + + + + 47 + + + + + + + + + + + + + 48 + + + + + + + + + + + + + 49 + + + + + + + + + + + + + 50 + + + + + + + + + + + + + 51 + + + + + + + + + + + + + 52 + + + + + + + + + + + + + 53 + + + + + + + + + + + + + 54 + + + + + + + + + + + + + 55 + + + + + + + + + + + + + 56 + + + + + + + + + + + + + 57 + + + + + + + + + + + + + 58 + + + + + + + + + + + + + 59 + + + + + + + + + + + + + 60 + + + + + + + + + + + + + 61 + + + + + + + + + + + + + 62 + + + + + + + + + + + + + 63 + + + + + + + + + + + + + 64 + + + + + + + + + + + + + 65 + + + + + Operator() 1x1x0 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 61.21 + + + + gnuplot_plot_5 + + + 48.53 + + + + gnuplot_plot_6 + + + 45.30 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 50.60 + + + + gnuplot_plot_9 + + + 45.49 (cv: 10.5 %) + + + + gnuplot_plot_10 + + + 40.39 + + + + + + + + + + + + + + Function Call Operator 1x1x0 Float Benchmark + + + kalman<float, float, void>::operator() + + + + + + + diff --git a/benchmark/operator1x1x1.cpp b/benchmark/operator1x1x1.cpp new file mode 100644 index 0000000000..09630c6055 --- /dev/null +++ b/benchmark/operator1x1x1.cpp @@ -0,0 +1,87 @@ +/*_ __ _ __ __ _ _ + | |/ / /\ | | | \/ | /\ | \ | | + | ' / / \ | | | \ / | / \ | \| | + | < / /\ \ | | | |\/| | / /\ \ | . ` | + | . \ / ____ \| |____| | | |/ ____ \| |\ | + |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +Kalman Filter for C++ +Version 0.1.0 +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 */ + +#include "fcarouge/benchmark/benchmark.hpp" +#include "fcarouge/kalman.hpp" + +#include + +#include +#include + +namespace fcarouge::benchmark +{ +namespace +{ +//! @benchmark Measure predict, empty benchmark performance. +void operator1x1x1(::benchmark::State &state) +{ + for (auto _ : state) { + using kalman = fcarouge::kalman; + kalman k; + + ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; + + k.template operator()(0.f); + + ::benchmark::ClobberMemory(); + const auto end{ clock::now() }; + + state.SetIterationTime( + std::chrono::duration_cast>(end - start) + .count()); + } +} + +BENCHMARK(operator1x1x1) + ->Name("operator1x1x1") + ->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 diff --git a/benchmark/operator1x1x1.plt b/benchmark/operator1x1x1.plt new file mode 100644 index 0000000000..98a8c4730b --- /dev/null +++ b/benchmark/operator1x1x1.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Function Call Operator 1x1x1 Float Benchmark}\n{/*0.8 kalman::operator()}" +set output "operator1x1x1.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [46 : 54] +set ytics .5 +set xtics ("Operator() 1x1x1 Float" 0) + +plot "/tmp/operator1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/operator1x1x1.svg b/benchmark/operator1x1x1.svg new file mode 100644 index 0000000000..8f10f3a9a5 --- /dev/null +++ b/benchmark/operator1x1x1.svg @@ -0,0 +1,414 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 46 + + + + + + + + + + + + + 46.5 + + + + + + + + + + + + + 47 + + + + + + + + + + + + + 47.5 + + + + + + + + + + + + + 48 + + + + + + + + + + + + + 48.5 + + + + + + + + + + + + + 49 + + + + + + + + + + + + + 49.5 + + + + + + + + + + + + + 50 + + + + + + + + + + + + + 50.5 + + + + + + + + + + + + + 51 + + + + + + + + + + + + + 51.5 + + + + + + + + + + + + + 52 + + + + + + + + + + + + + 52.5 + + + + + + + + + + + + + 53 + + + + + + + + + + + + + 53.5 + + + + + + + + + + + + + 54 + + + + + Operator() 1x1x1 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 51.94 + + + + gnuplot_plot_5 + + + 47.54 + + + + gnuplot_plot_6 + + + 46.99 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 48.02 + + + + gnuplot_plot_9 + + + 47.34 (cv: 1.4 %) + + + + gnuplot_plot_10 + + + 46.66 + + + + + + + + + + + + + + Function Call Operator 1x1x1 Float Benchmark + + + kalman<float, float, float>::operator() + + + + + + + diff --git a/benchmark/plot.sh b/benchmark/plot.sh new file mode 100644 index 0000000000..9416195ab8 --- /dev/null +++ b/benchmark/plot.sh @@ -0,0 +1,92 @@ +#!/bin/bash +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set -e + +# Filter benchmark results to flatten and retain plot data. +jq --compact-output '[.benchmarks[] + | select(has("aggregate_name")) + | select(has("big_o") | not) + | select(has("rms") | not) + | {name: .run_name, value: {(.aggregate_name): .real_time}}] + | group_by([.name]) + | map((.[0]|del(.value)) + { values: (map(.value)) })[] + | {name: .name, mean: .values[0].mean, median: .values[1].median, stddev: .values[2].stddev, cv: .values[3].cv, min: .values[4].min, max: .values[5].max} + ' results.json > /tmp/flat_results.json + +# Individual CSV and plot results. +grep "baseline" /tmp/flat_results.json \ + | sed -E 's#\{"name":"baseline/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/baseline.csv +gnuplot baseline.plt + +grep "predict1x1x0" /tmp/flat_results.json \ + | sed -E 's#\{"name":"predict1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/predict1x1x0.csv +gnuplot predict1x1x0.plt + +grep "update1x1x0" /tmp/flat_results.json \ + | sed -E 's#\{"name":"update1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/update1x1x0.csv +gnuplot update1x1x0.plt + +grep "operator1x1x0" /tmp/flat_results.json \ + | sed -E 's#\{"name":"operator1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/operator1x1x0.csv +gnuplot operator1x1x0.plt + +grep "predict1x1x1" /tmp/flat_results.json \ + | sed -E 's#\{"name":"predict1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/predict1x1x1.csv +gnuplot predict1x1x1.plt + +grep "update1x1x1" /tmp/flat_results.json \ + | sed -E 's#\{"name":"update1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/update1x1x1.csv +gnuplot update1x1x1.plt + +grep "operator1x1x1" /tmp/flat_results.json \ + | sed -E 's#\{"name":"operator1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \ + > /tmp/operator1x1x1.csv +gnuplot operator1x1x1.plt + +# Groups using results. +gnuplot float1x1x0.plt +gnuplot float1x1x1.plt +gnuplot float.plt diff --git a/benchmark/predict1x1x0.cpp b/benchmark/predict1x1x0.cpp new file mode 100644 index 0000000000..ab559d0886 --- /dev/null +++ b/benchmark/predict1x1x0.cpp @@ -0,0 +1,87 @@ +/*_ __ _ __ __ _ _ + | |/ / /\ | | | \/ | /\ | \ | | + | ' / / \ | | | \ / | / \ | \| | + | < / /\ \ | | | |\/| | / /\ \ | . ` | + | . \ / ____ \| |____| | | |/ ____ \| |\ | + |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +Kalman Filter for C++ +Version 0.1.0 +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 */ + +#include "fcarouge/benchmark/benchmark.hpp" +#include "fcarouge/kalman.hpp" + +#include + +#include +#include + +namespace fcarouge::benchmark +{ +namespace +{ +//! @benchmark Measure predict, empty benchmark performance. +void predict1x1x0(::benchmark::State &state) +{ + for (auto _ : state) { + using kalman = fcarouge::kalman; + kalman k; + + ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; + + k.predict(); + + ::benchmark::ClobberMemory(); + const auto end{ clock::now() }; + + state.SetIterationTime( + std::chrono::duration_cast>(end - start) + .count()); + } +} + +BENCHMARK(predict1x1x0) + ->Name("predict1x1x0") + ->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 diff --git a/benchmark/predict1x1x0.plt b/benchmark/predict1x1x0.plt new file mode 100644 index 0000000000..68dee3073a --- /dev/null +++ b/benchmark/predict1x1x0.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Predict 1x1x0 Float Benchmark}\n{/*0.8 kalman::predict()}" +set output "predict1x1x0.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [33 : 39] +set ytics .5 +set xtics ("Predict 1x1x0 Float" 0) + +plot "/tmp/predict1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/predict1x1x0.svg b/benchmark/predict1x1x0.svg new file mode 100644 index 0000000000..7f11bb4f1e --- /dev/null +++ b/benchmark/predict1x1x0.svg @@ -0,0 +1,362 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 33 + + + + + + + + + + + + + 33.5 + + + + + + + + + + + + + 34 + + + + + + + + + + + + + 34.5 + + + + + + + + + + + + + 35 + + + + + + + + + + + + + 35.5 + + + + + + + + + + + + + 36 + + + + + + + + + + + + + 36.5 + + + + + + + + + + + + + 37 + + + + + + + + + + + + + 37.5 + + + + + + + + + + + + + 38 + + + + + + + + + + + + + 38.5 + + + + + + + + + + + + + 39 + + + + + Predict 1x1x0 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 37.28 + + + + gnuplot_plot_5 + + + 33.92 + + + + gnuplot_plot_6 + + + 33.68 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 34.24 + + + + gnuplot_plot_9 + + + 33.80 (cv: 1.3 %) + + + + gnuplot_plot_10 + + + 33.35 + + + + + + + + + + + + + + Predict 1x1x0 Float Benchmark + + + kalman<float, float, void>::predict() + + + + + + + diff --git a/benchmark/predict1x1x1.cpp b/benchmark/predict1x1x1.cpp new file mode 100644 index 0000000000..2cd446905c --- /dev/null +++ b/benchmark/predict1x1x1.cpp @@ -0,0 +1,87 @@ +/*_ __ _ __ __ _ _ + | |/ / /\ | | | \/ | /\ | \ | | + | ' / / \ | | | \ / | / \ | \| | + | < / /\ \ | | | |\/| | / /\ \ | . ` | + | . \ / ____ \| |____| | | |/ ____ \| |\ | + |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +Kalman Filter for C++ +Version 0.1.0 +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 */ + +#include "fcarouge/benchmark/benchmark.hpp" +#include "fcarouge/kalman.hpp" + +#include + +#include +#include + +namespace fcarouge::benchmark +{ +namespace +{ +//! @benchmark Measure predict, empty benchmark performance. +void predict1x1x1(::benchmark::State &state) +{ + for (auto _ : state) { + using kalman = fcarouge::kalman; + kalman k; + + ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; + + k.predict(); + + ::benchmark::ClobberMemory(); + const auto end{ clock::now() }; + + state.SetIterationTime( + std::chrono::duration_cast>(end - start) + .count()); + } +} + +BENCHMARK(predict1x1x1) + ->Name("predict1x1x1") + ->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 diff --git a/benchmark/predict1x1x1.plt b/benchmark/predict1x1x1.plt new file mode 100644 index 0000000000..8a1b739350 --- /dev/null +++ b/benchmark/predict1x1x1.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Predict 1x1x1 Float Benchmark}\n{/*0.8 kalman::predict()}" +set output "predict1x1x1.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [32 : 36] +set ytics .2 +set xtics ("Predict 1x1x1 Float" 0) + +plot "/tmp/predict1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/predict1x1x1.svg b/benchmark/predict1x1x1.svg new file mode 100644 index 0000000000..85bd5060ce --- /dev/null +++ b/benchmark/predict1x1x1.svg @@ -0,0 +1,466 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 32 + + + + + + + + + + + + + 32.2 + + + + + + + + + + + + + 32.4 + + + + + + + + + + + + + 32.6 + + + + + + + + + + + + + 32.8 + + + + + + + + + + + + + 33 + + + + + + + + + + + + + 33.2 + + + + + + + + + + + + + 33.4 + + + + + + + + + + + + + 33.6 + + + + + + + + + + + + + 33.8 + + + + + + + + + + + + + 34 + + + + + + + + + + + + + 34.2 + + + + + + + + + + + + + 34.4 + + + + + + + + + + + + + 34.6 + + + + + + + + + + + + + 34.8 + + + + + + + + + + + + + 35 + + + + + + + + + + + + + 35.2 + + + + + + + + + + + + + 35.4 + + + + + + + + + + + + + 35.6 + + + + + + + + + + + + + 35.8 + + + + + + + + + + + + + 36 + + + + + Predict 1x1x1 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 34.51 + + + + gnuplot_plot_5 + + + 33.79 + + + + gnuplot_plot_6 + + + 33.62 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 33.88 + + + + gnuplot_plot_9 + + + 33.76 (cv: 0.3 %) + + + + gnuplot_plot_10 + + + 33.65 + + + + + + + + + + + + + + Predict 1x1x1 Float Benchmark + + + kalman<float, float, float>::predict() + + + + + + + diff --git a/benchmark/results.json b/benchmark/results.json new file mode 100644 index 0000000000..4559230989 --- /dev/null +++ b/benchmark/results.json @@ -0,0 +1,10658 @@ +{ + "context": { + "date": "2022-08-09T22:26:58-07:00", + "host_name": "FRANCOIS-DESK", + "executable": "kalman.exe", + "num_cpus": 8, + "mhz_per_cpu": 4008, + "caches": [ + { + "type": "Data", + "level": 1, + "size": 32768, + "num_sharing": 2 + }, + { + "type": "Instruction", + "level": 1, + "size": 32768, + "num_sharing": 2 + }, + { + "type": "Unified", + "level": 2, + "size": 262144, + "num_sharing": 2 + }, + { + "type": "Unified", + "level": 3, + "size": 8388608, + "num_sharing": 8 + } + ], + "load_avg": [], + "library_build_type": "release" + }, + "benchmarks": [ + { + "name": "baseline/repeats:100/manual_time", + "family_index": 0, + "per_family_instance_index": 0, + "run_name": "baseline/repeats:100/manual_time", + "run_type": "iteration", + "repetitions": 100, + "repetition_index": 0, + "threads": 1, + "iterations": 24779340, + "real_time": 2.8266963523156132e+01, + "cpu_time": 6.4948259316026977e+01, + "time_unit": "ns" + }, + { + "name": "baseline/repeats:100/manual_time", + "family_index": 0, + "per_family_instance_index": 0, + "run_name": "baseline/repeats:100/manual_time", + "run_type": "iteration", + "repetitions": 100, + "repetition_index": 1, + "threads": 1, + "iterations": 24779340, + "real_time": 2.8298937740372430e+01, + "cpu_time": 6.4317693691599530e+01, + "time_unit": "ns" + }, + { + "name": "baseline/repeats:100/manual_time", + "family_index": 0, + "per_family_instance_index": 0, + "run_name": "baseline/repeats:100/manual_time", + "run_type": "iteration", + "repetitions": 100, + "repetition_index": 2, + "threads": 1, + "iterations": 24779340, + "real_time": 2.8230207096248435e+01, + "cpu_time": 6.4317693691599530e+01, + "time_unit": "ns" + }, + { + "name": "baseline/repeats:100/manual_time", + "family_index": 0, + "per_family_instance_index": 0, + "run_name": "baseline/repeats:100/manual_time", + "run_type": "iteration", + "repetitions": 100, + "repetition_index": 3, + "threads": 1, + "iterations": 24779340, + "real_time": 2.8232337903607675e+01, + "cpu_time": 6.4948259316026977e+01, + "time_unit": "ns" + }, + { + "name": "baseline/repeats:100/manual_time", + "family_index": 0, + "per_family_instance_index": 0, + "run_name": "baseline/repeats:100/manual_time", + 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1, + "aggregate_name": "RMS", + "aggregate_unit": "percentage", + "rms": 4.9285507903081829e-03 + } + ] +} diff --git a/benchmark/update1x1x0.cpp b/benchmark/update1x1x0.cpp new file mode 100644 index 0000000000..9c1e6626db --- /dev/null +++ b/benchmark/update1x1x0.cpp @@ -0,0 +1,87 @@ +/*_ __ _ __ __ _ _ + | |/ / /\ | | | \/ | /\ | \ | | + | ' / / \ | | | \ / | / \ | \| | + | < / /\ \ | | | |\/| | / /\ \ | . ` | + | . \ / ____ \| |____| | | |/ ____ \| |\ | + |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +Kalman Filter for C++ +Version 0.1.0 +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 */ + +#include "fcarouge/benchmark/benchmark.hpp" +#include "fcarouge/kalman.hpp" + +#include + +#include +#include + +namespace fcarouge::benchmark +{ +namespace +{ +//! @benchmark Measure update, empty benchmark performance. +void update1x1x0(::benchmark::State &state) +{ + for (auto _ : state) { + using kalman = fcarouge::kalman; + kalman k; + + ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; + + k.update(); + + ::benchmark::ClobberMemory(); + const auto end{ clock::now() }; + + state.SetIterationTime( + std::chrono::duration_cast>(end - start) + .count()); + } +} + +BENCHMARK(update1x1x0) + ->Name("update1x1x0") + ->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 diff --git a/benchmark/update1x1x0.plt b/benchmark/update1x1x0.plt new file mode 100644 index 0000000000..b3615c0dcd --- /dev/null +++ b/benchmark/update1x1x0.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Update 1x1x0 Float Benchmark}\n{/*0.8 kalman::update()}" +set output "update1x1x0.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [40 : 43] +set ytics .2 +set xtics ("Update 1x1x0 Float" 0) + +plot "/tmp/update1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/update1x1x0.svg b/benchmark/update1x1x0.svg new file mode 100644 index 0000000000..cc8c1ad00b --- /dev/null +++ b/benchmark/update1x1x0.svg @@ -0,0 +1,401 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 40 + + + + + + + + + + + + + 40.2 + + + + + + + + + + + + + 40.4 + + + + + + + + + + + + + 40.6 + + + + + + + + + + + + + 40.8 + + + + + + + + + + + + + 41 + + + + + + + + + + + + + 41.2 + + + + + + + + + + + + + 41.4 + + + + + + + + + + + + + 41.6 + + + + + + + + + + + + + 41.8 + + + + + + + + + + + + + 42 + + + + + + + + + + + + + 42.2 + + + + + + + + + + + + + 42.4 + + + + + + + + + + + + + 42.6 + + + + + + + + + + + + + 42.8 + + + + + + + + + + + + + 43 + + + + + Update 1x1x0 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 41.29 + + + + gnuplot_plot_5 + + + 40.57 + + + + gnuplot_plot_6 + + + 40.45 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 40.65 + + + + gnuplot_plot_9 + + + 40.56 (cv: 0.2 %) + + + + gnuplot_plot_10 + + + 40.47 + + + + + + + + + + + + + + Update 1x1x0 Float Benchmark + + + kalman<float, float, void>::update() + + + + + + + diff --git a/benchmark/update1x1x1.cpp b/benchmark/update1x1x1.cpp new file mode 100644 index 0000000000..bc4cb15d5e --- /dev/null +++ b/benchmark/update1x1x1.cpp @@ -0,0 +1,89 @@ +/*_ __ _ __ __ _ _ + | |/ / /\ | | | \/ | /\ | \ | | + | ' / / \ | | | \ / | / \ | \| | + | < / /\ \ | | | |\/| | / /\ \ | . ` | + | . \ / ____ \| |____| | | |/ ____ \| |\ | + |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +Kalman Filter for C++ +Version 0.1.0 +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 */ + +#include "fcarouge/benchmark/benchmark.hpp" +#include "fcarouge/kalman.hpp" + +#include + +#include +#include + +namespace fcarouge::benchmark +{ +namespace +{ +//! @benchmark Measure update, empty benchmark performance. +void update1x1x1(::benchmark::State &state) +{ + for (auto _ : state) { + using kalman = fcarouge::kalman; + kalman k; + + const float input{ 0. }; + + ::benchmark::ClobberMemory(); + const auto start{ clock::now() }; + + k.update(input); + + ::benchmark::ClobberMemory(); + const auto end{ clock::now() }; + + state.SetIterationTime( + std::chrono::duration_cast>(end - start) + .count()); + } +} + +BENCHMARK(update1x1x1) + ->Name("update1x1x1") + ->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 diff --git a/benchmark/update1x1x1.plt b/benchmark/update1x1x1.plt new file mode 100644 index 0000000000..6fcb21be21 --- /dev/null +++ b/benchmark/update1x1x1.plt @@ -0,0 +1,64 @@ +#!/usr/bin/gnuplot +# _ __ _ __ __ _ _ +# | |/ / /\ | | | \/ | /\ | \ | | +# | ' / / \ | | | \ / | / \ | \| | +# | < / /\ \ | | | |\/| | / /\ \ | . ` | +# | . \ / ____ \| |____| | | |/ ____ \| |\ | +# |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +# Kalman Filter for C++ +# Version 0.1.0 +# 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 + +set terminal svg enhanced background rgb "white" size 360,720 +set datafile separator "," +set title "{/:Bold Update 1x1x1 Float Benchmark}\n{/*0.8 kalman::update(0.f)}" +set output "update1x1x1.svg" +set key noautotitle +set key inside top left reverse Left +set ylabel "Time (ns)" +set grid ytics +set boxwidth 0.9 +set xrange [ -0.5 : 0.5 ] +set style fill solid border linecolor "black" +set yrange [40 : 42] +set ytics .2 +set xtics ("Update 1x1x1 Float" 0) + +plot "/tmp/update1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ + "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \ + "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \ + "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \ + "" using (0):1:(sprintf("%8.2f", $1)) with labels right offset char -2,0.3, \ + "" using (0):5:(sprintf("%8.2f", $5)) with labels right offset char -2,0.3, \ + "" using (0):2:3 with yerrorbars linetype 1 linecolor "black" title "Mean and Standard Deviation", \ + "" using (0):($2+$3):(sprintf("%.2f", $2+$3)) with labels left offset char 1,0, \ + "" using (0):2:(sprintf("%.2f (cv: %.1f %%)", $2, $4 * 100)) with labels left offset char 1,0, \ + "" using (0):($2-$3):(sprintf("%.2f", $2-$3)) with labels left offset char 1,0 diff --git a/benchmark/update1x1x1.svg b/benchmark/update1x1x1.svg new file mode 100644 index 0000000000..2a86e8cdc8 --- /dev/null +++ b/benchmark/update1x1x1.svg @@ -0,0 +1,336 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 40 + + + + + + + + + + + + + 40.2 + + + + + + + + + + + + + 40.4 + + + + + + + + + + + + + 40.6 + + + + + + + + + + + + + 40.8 + + + + + + + + + + + + + 41 + + + + + + + + + + + + + 41.2 + + + + + + + + + + + + + 41.4 + + + + + + + + + + + + + 41.6 + + + + + + + + + + + + + 41.8 + + + + + + + + + + + + + 42 + + + + + Update 1x1x1 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 40.93 + + + + gnuplot_plot_5 + + + 40.64 + + + + gnuplot_plot_6 + + + 40.50 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 40.72 + + + + gnuplot_plot_9 + + + 40.64 (cv: 0.2 %) + + + + gnuplot_plot_10 + + + 40.57 + + + + + + + + + + + + + + Update 1x1x1 Float Benchmark + + + kalman<float, float, float>::update(0.f) + + + + + + +