[benchmark] add performance measures

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 +268,13 @@ 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.
+
+![Float](benchmark/float.svg)
 
 # Motivation
 

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)

benchmark/benchmark_simple.cpp → 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

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 <https://unlicense.org>
+
+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