diff --git a/.github/workflows/verify_test_ubuntu-22-04_clang.yml b/.github/workflows/verify_test_ubuntu-22-04_clang.yml index 4c1ba3024..355135616 100644 --- a/.github/workflows/verify_test_ubuntu-22-04_clang.yml +++ b/.github/workflows/verify_test_ubuntu-22-04_clang.yml @@ -16,9 +16,6 @@ jobs: run: | export CC=clang export CXX=clang++ - mkdir build - cd build - cmake .. - cmake --build . --parallel - ctest --tests-regex kalman --output-on-failure --parallel - sudo cmake --install . + cmake -B "build" . + cmake --build "build" --parallel + ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel diff --git a/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml b/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml index 035348fdb..bd921c3ea 100644 --- a/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml +++ b/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml @@ -18,9 +18,6 @@ jobs: sudo dpkg -i gcc-latest.deb export CC=/opt/gcc-latest/bin/gcc export CXX=/opt/gcc-latest/bin/g++ - mkdir build - cd build - cmake .. - cmake --build . --parallel - ctest --tests-regex kalman --output-on-failure --parallel - sudo cmake --install . + cmake -B "build" . + cmake --build "build" --parallel + ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel diff --git a/.github/workflows/verify_test_ubuntu-22-04_gcc.yml b/.github/workflows/verify_test_ubuntu-22-04_gcc.yml index c4d20b3d3..ab0d2c7fb 100644 --- a/.github/workflows/verify_test_ubuntu-22-04_gcc.yml +++ b/.github/workflows/verify_test_ubuntu-22-04_gcc.yml @@ -14,9 +14,6 @@ jobs: uses: actions/checkout@v3.0.2 - name: Build run: | - mkdir build - cd build - cmake .. - cmake --build . --parallel - ctest --tests-regex kalman --output-on-failure --parallel - sudo cmake --install . + cmake -B "build" . + cmake --build "build" --parallel + ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel diff --git a/.github/workflows/verify_test_windows-2019_msvc.yml b/.github/workflows/verify_test_windows-2019_msvc.yml index 08cd03eea..19fe53125 100644 --- a/.github/workflows/verify_test_windows-2019_msvc.yml +++ b/.github/workflows/verify_test_windows-2019_msvc.yml @@ -16,9 +16,8 @@ jobs: uses: ilammy/msvc-dev-cmd@v1.10.0 - name: Version run: cl - - name: Install Eigen - run: vcpkg install eigen3 - name: Build - run: cl /EHsc /std:c++latest /I include /I C:\vcpkg\packages\eigen3_x86-windows\include\eigen3 /TP sample/*.cpp source/*.cpp test/*.cpp /Fe:kalman.exe - - name: Run - run: ./kalman.exe + run: | + cmake -B "build" . + cmake --build "build" --parallel + ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel diff --git a/CMakeLists.txt b/CMakeLists.txt index 34d6c8b50..bac378213 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -57,8 +57,8 @@ FetchContent_Declare( FetchContent_Declare( google_benchmark - URL "https://github.com/google/benchmark/archive/refs/tags/v1.7.0.tar.gz" - URL_HASH MD5=a259f985e7f8e4f5d2286a592eabd7e9) + URL "https://github.com/google/benchmark/archive/refs/tags/v1.6.2.tar.gz" + URL_HASH MD5=14d14849e075af116143a161bc3b927b) FetchContent_Declare( eigen @@ -72,10 +72,9 @@ FetchContent_Declare( FetchContent_MakeAvailable(google_test google_benchmark eigen fmt) +add_subdirectory(benchmark) add_subdirectory(include) add_subdirectory(sample) add_subdirectory(source) add_subdirectory(support) add_subdirectory(test) - -install(DIRECTORY "include/fcarouge" DESTINATION "include") diff --git a/INSTALL.md b/INSTALL.md index e3280ce64..1f94fc6f8 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -1,13 +1,29 @@ # Installation -## System +## System Library -Clone the repository, in a build folder configure CMake and install: +Install and use the library in your projects by cloning the repository, configuring, and installing the project on all platforms: ```shell -git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git kalman -mkdir kalman/build -cd kalman/build -cmake .. -sudo cmake --install . +git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman" +cmake -S "kalman" -B "build" +cmake --build "build" --parallel +sudo cmake --install "build" ``` + +# Build & Run + +## Tests & Samples + +Build and run the tests and samples on all platforms: + +```shell +git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman" +cmake -S "kalman" -B "build" -G "Ninja Multi-Config" +cmake --build "build" --config "Debug" --parallel +ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel +``` + +## Benchmarks + +See the [Benchmark](benchmark/) section. diff --git a/README.md b/README.md index f98c3b597..2a68ad815 100644 --- a/README.md +++ b/README.md @@ -286,11 +286,10 @@ std::print("{}", k); # Installation ```shell -git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git kalman -mkdir kalman/build -cd kalman/build -cmake .. -sudo cmake --install . +git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman" +cmake -S "kalman" -B "build" +cmake --build "build" --parallel +sudo cmake --install "build" ``` [For more, see installation instructions](INSTALL.md). diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt new file mode 100644 index 000000000..0facb2bf7 --- /dev/null +++ b/benchmark/CMakeLists.txt @@ -0,0 +1,50 @@ +#[[ __ _ __ __ _ _ +| |/ / /\ | | | \/ | /\ | \ | | +| ' / / \ | | | \ / | / \ | \| | +| < / /\ \ | | | |\/| | / /\ \ | . ` | +| . \ / ____ \| |____| | | |/ ____ \| |\ | +|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| + +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(SOURCES "baseline.cpp" "predict1x1x0.cpp" "predict1x1x1.cpp" + "update1x1x0.cpp" "update1x1x1.cpp") + +foreach(BENCHMARK ${SOURCES}) + get_filename_component(NAME ${BENCHMARK} NAME_WE) + add_executable(kalman_benchmark_${NAME}_driver ${BENCHMARK}) + target_link_libraries( + kalman_benchmark_${NAME}_driver + PRIVATE eigen kalman benchmark::benchmark_main benchmark::benchmark) + add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver + "--benchmark_out=kalman_benchmark_${NAME}.json") +endforeach() diff --git a/benchmark/README.md b/benchmark/README.md index a9884a8ff..e0a8dfcbb 100644 --- a/benchmark/README.md +++ b/benchmark/README.md @@ -1,12 +1,29 @@ -# 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) +# Benchmarks + +Build and run the benchmarks on all platforms: + +```shell +git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman" +cmake -S "kalman" -B "build" -G "Ninja Multi-Config" +cmake --build "build" --config "Release" --parallel +ctest --test-dir "build" --tests-regex "kalman_benchmark" +``` + +Plot the results on Linux: + +```shell +./kalman/benchmark/script/plot.sh +``` + +# Results + +Run on Microsoft Windows 10 on native x64 with Visual Studio 2022 compiler 19.33 in release mode. + +![Float](image/float.svg) +![Float 1x1x0](image/float1x1x0.svg) +![Float 1x1x1](image/float1x1x1.svg) +![Baseline](image/baseline.svg) +![Update Float 1x1x0](image/update1x1x0.svg) +![Update Float 1x1x1](image/update1x1x1.svg) +![Predict Float 1x1x0](image/predict1x1x0.svg) +![Predict Float 1x1x1](image/predict1x1x1.svg) diff --git a/benchmark/benchmark.bat b/benchmark/benchmark.bat deleted file mode 100644 index 1e1a88c31..000000000 --- a/benchmark/benchmark.bat +++ /dev/null @@ -1,55 +0,0 @@ -:: _ __ _ __ __ _ _ -:: | |/ / /\ | | | \/ | /\ | \ | | -:: | ' / / \ | | | \ / | / \ | \| | -:: | < / /\ \ | | | |\/| | / /\ \ | . ` | -:: | . \ / ____ \| |____| | | |/ ____ \| |\ | -:: |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| - -:: 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 EIGEN_NO_MALLOC ^ - /D EIGEN_RUNTIME_NO_MALLOC ^ - /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_filter="." --benchmark_out="benchmark/results.json" -cd benchmark diff --git a/benchmark/update1x1x1.svg b/benchmark/image/baseline.svg similarity index 82% rename from benchmark/update1x1x1.svg rename to benchmark/image/baseline.svg index 4a649a638..0164b14f7 100644 --- a/benchmark/update1x1x1.svg +++ b/benchmark/image/baseline.svg @@ -51,7 +51,7 @@ - 40.4 + 13 @@ -59,12 +59,12 @@ - + - - 40.6 + + 13.2 @@ -72,12 +72,12 @@ - + - - 40.8 + + 13.4 @@ -85,12 +85,12 @@ - + - - 41 + + 13.6 @@ -98,12 +98,12 @@ - + - - 41.2 + + 13.8 @@ -111,12 +111,12 @@ - + - - 41.4 + + 14 @@ -124,12 +124,12 @@ - + - - 41.6 + + 14.2 @@ -137,12 +137,12 @@ - + - - 41.8 + + 14.4 @@ -150,12 +150,12 @@ - + - - 42 + + 14.6 @@ -163,12 +163,12 @@ - + - - 42.2 + + 14.8 @@ -176,17 +176,17 @@ - + - - 42.4 + + 15 - Update 1x1x1 Float + Baseline - No Code @@ -213,9 +213,9 @@ - + - + @@ -232,9 +232,9 @@ - + - + @@ -251,30 +251,30 @@ - + - + gnuplot_plot_4 - - 41.88 + + 14.43 gnuplot_plot_5 - - 41.50 + + 14.17 gnuplot_plot_6 - - 41.41 + + 14.00 @@ -285,31 +285,31 @@ - + - + gnuplot_plot_8 - - 41.55 + + 14.26 gnuplot_plot_9 - - 41.50 (cv: 0.1 %) + + 14.17 (cv: 0.7 %) gnuplot_plot_10 - - 41.44 + + 14.07 @@ -323,10 +323,10 @@ - Update 1x1x1 Float Benchmark + Baseline Benchmark - kalman<float, float, float>::update(0.f) + No code benchmark. diff --git a/benchmark/float.svg b/benchmark/image/float.svg similarity index 72% rename from benchmark/float.svg rename to benchmark/image/float.svg index 4bc8afbff..496cc0fac 100644 --- a/benchmark/float.svg +++ b/benchmark/image/float.svg @@ -51,20 +51,7 @@ - 25 - - - - - - - - - - - - - 26 + 12 @@ -72,12 +59,12 @@ - + - - 27 + + 13 @@ -85,12 +72,12 @@ - + - - 28 + + 14 @@ -103,20 +90,7 @@ - 29 - - - - - - - - - - - - - 30 + 15 @@ -124,12 +98,12 @@ - + - - 31 + + 16 @@ -137,12 +111,12 @@ - + - - 32 + + 17 @@ -155,20 +129,7 @@ - 33 - - - - - - - - - - - - - 34 + 18 @@ -176,12 +137,12 @@ - + - - 35 + + 19 @@ -189,12 +150,12 @@ - + - - 36 + + 20 @@ -207,20 +168,7 @@ - 37 - - - - - - - - - - - - - 38 + 21 @@ -228,12 +176,12 @@ - + - - 39 + + 22 @@ -241,12 +189,12 @@ - + - - 40 + + 23 @@ -259,20 +207,7 @@ - 41 - - - - - - - - - - - - - 42 + 24 @@ -280,12 +215,12 @@ - + - - 43 + + 25 @@ -293,12 +228,12 @@ - + - - 44 + + 26 @@ -311,7 +246,7 @@ - 45 + 27 @@ -353,45 +288,45 @@ gnuplot_plot_1 - + - + gnuplot_plot_2 - + - + gnuplot_plot_3 - + - + gnuplot_plot_4 - + - + gnuplot_plot_5 - + - + diff --git a/benchmark/float1x1x1.svg b/benchmark/image/float1x1x0.svg similarity index 62% rename from benchmark/float1x1x1.svg rename to benchmark/image/float1x1x0.svg index 04ae57076..23989c774 100644 --- a/benchmark/float1x1x1.svg +++ b/benchmark/image/float1x1x0.svg @@ -51,7 +51,7 @@ - 20 + 12 @@ -59,12 +59,12 @@ - + - - 21 + + 13 @@ -72,38 +72,12 @@ - + - - 22 - - - - - - - - - - - - - 23 - - - - - - - - - - - - - 24 + + 14 @@ -116,20 +90,7 @@ - 25 - - - - - - - - - - - - - 26 + 15 @@ -137,12 +98,12 @@ - + - - 27 + + 16 @@ -150,25 +111,12 @@ - + - - 28 - - - - - - - - - - - - - 29 + + 17 @@ -181,20 +129,7 @@ - 30 - - - - - - - - - - - - - 31 + 18 @@ -202,12 +137,12 @@ - + - - 32 + + 19 @@ -215,25 +150,12 @@ - + - - 33 - - - - - - - - - - - - - 34 + + 20 @@ -246,33 +168,7 @@ - 35 - - - - - - - - - - - - - 36 - - - - - - - - - - - - - 37 + 21 @@ -280,12 +176,12 @@ - + - - 38 + + 22 @@ -293,12 +189,12 @@ - + - - 39 + + 23 @@ -311,33 +207,7 @@ - 40 - - - - - - - - - - - - - 41 - - - - - - - - - - - - - 42 + 24 @@ -345,12 +215,12 @@ - + - - 43 + + 25 @@ -358,12 +228,12 @@ - + - - 44 + + 26 @@ -376,7 +246,7 @@ - 45 + 27 @@ -408,27 +278,27 @@ gnuplot_plot_1 - + - + gnuplot_plot_2 - + - + gnuplot_plot_3 - + - + @@ -442,7 +312,7 @@ - Float 1x1x1 Group Benchmark + Float 1x1x0 Group Benchmark diff --git a/benchmark/float1x1x0.svg b/benchmark/image/float1x1x1.svg similarity index 62% rename from benchmark/float1x1x0.svg rename to benchmark/image/float1x1x1.svg index 1591a1848..1f93fc29f 100644 --- a/benchmark/float1x1x0.svg +++ b/benchmark/image/float1x1x1.svg @@ -51,7 +51,7 @@ - 20 + 12 @@ -59,12 +59,12 @@ - + - - 21 + + 13 @@ -72,38 +72,12 @@ - + - - 22 - - - - - - - - - - - - - 23 - - - - - - - - - - - - - 24 + + 14 @@ -116,20 +90,7 @@ - 25 - - - - - - - - - - - - - 26 + 15 @@ -137,12 +98,12 @@ - + - - 27 + + 16 @@ -150,25 +111,12 @@ - + - - 28 - - - - - - - - - - - - - 29 + + 17 @@ -181,20 +129,7 @@ - 30 - - - - - - - - - - - - - 31 + 18 @@ -202,12 +137,12 @@ - + - - 32 + + 19 @@ -215,25 +150,12 @@ - + - - 33 - - - - - - - - - - - - - 34 + + 20 @@ -246,33 +168,7 @@ - 35 - - - - - - - - - - - - - 36 - - - - - - - - - - - - - 37 + 21 @@ -280,12 +176,12 @@ - + - - 38 + + 22 @@ -293,12 +189,12 @@ - + - - 39 + + 23 @@ -311,33 +207,7 @@ - 40 - - - - - - - - - - - - - 41 - - - - - - - - - - - - - 42 + 24 @@ -345,12 +215,12 @@ - + - - 43 + + 25 @@ -358,12 +228,12 @@ - + - - 44 + + 26 @@ -376,7 +246,7 @@ - 45 + 27 @@ -408,27 +278,27 @@ gnuplot_plot_1 - + - + gnuplot_plot_2 - + - + gnuplot_plot_3 - + - + @@ -442,7 +312,7 @@ - Float 1x1x0 Group Benchmark + Float 1x1x1 Group Benchmark diff --git a/benchmark/image/predict1x1x0.svg b/benchmark/image/predict1x1x0.svg new file mode 100644 index 000000000..4107d6a77 --- /dev/null +++ b/benchmark/image/predict1x1x0.svg @@ -0,0 +1,258 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 17 + + + + + + + + + + + + + 17.5 + + + + + + + + + + + + + 18 + + + + + + + + + + + + + 18.5 + + + + + + + + + + + + + 19 + + + + + Predict 1x1x0 Float + + + + + + + + + Time (ns) + + + + + Maximum + + + Maximum + + + + + + + + + + + + + + + + Average + + + Average + + + + + + + + + + + + + + + + Minimum + + + Minimum + + + + + + + + + + + + + + + + gnuplot_plot_4 + + + 18.35 + + + + gnuplot_plot_5 + + + 17.87 + + + + gnuplot_plot_6 + + + 17.63 + + + + Mean and Standard Deviation + + + Mean and Standard Deviation + + + + + + + + + + gnuplot_plot_8 + + + 18.00 + + + + gnuplot_plot_9 + + + 17.87 (cv: 0.7 %) + + + + gnuplot_plot_10 + + + 17.74 + + + + + + + + + + + + + + Predict 1x1x0 Float Benchmark + + + kalman<float, float, void>::predict() + + + + + + + diff --git a/benchmark/predict1x1x0.svg b/benchmark/image/predict1x1x1.svg similarity index 89% rename from benchmark/predict1x1x0.svg rename to benchmark/image/predict1x1x1.svg index 819a22abe..56a31a999 100644 --- a/benchmark/predict1x1x0.svg +++ b/benchmark/image/predict1x1x1.svg @@ -51,7 +51,7 @@ - 33 + 18 @@ -64,7 +64,7 @@ - 33.5 + 18.2 @@ -77,7 +77,7 @@ - 34 + 18.4 @@ -90,7 +90,7 @@ - 34.5 + 18.6 @@ -103,7 +103,7 @@ - 35 + 18.8 @@ -111,12 +111,12 @@ - + - - 35.5 + + 19 @@ -129,7 +129,7 @@ - 36 + 19.2 @@ -142,7 +142,7 @@ - 36.5 + 19.4 @@ -155,7 +155,7 @@ - 37 + 19.6 @@ -168,7 +168,7 @@ - 37.5 + 19.8 @@ -181,12 +181,12 @@ - 38 + 20 - Predict 1x1x0 Float + Predict 1x1x1 Float @@ -213,9 +213,9 @@ - + - + @@ -232,9 +232,9 @@ - + - + @@ -251,30 +251,30 @@ - + - + gnuplot_plot_4 - - 34.85 + + 19.13 gnuplot_plot_5 - - 34.04 + + 18.79 gnuplot_plot_6 - - 33.90 + + 18.62 @@ -285,31 +285,31 @@ - + - + gnuplot_plot_8 - - 34.13 + + 18.87 gnuplot_plot_9 - - 34.02 (cv: 0.3 %) + + 18.78 (cv: 0.5 %) gnuplot_plot_10 - - 33.90 + + 18.68 @@ -323,10 +323,10 @@ - Predict 1x1x0 Float Benchmark + Predict 1x1x1 Float Benchmark - kalman<float, float, void>::predict() + kalman<float, float, float>::predict() diff --git a/benchmark/update1x1x0.svg b/benchmark/image/update1x1x0.svg similarity index 78% rename from benchmark/update1x1x0.svg rename to benchmark/image/update1x1x0.svg index ef0b09380..90505fa9a 100644 --- a/benchmark/update1x1x0.svg +++ b/benchmark/image/update1x1x0.svg @@ -51,7 +51,7 @@ - 40 + 24 @@ -59,12 +59,12 @@ - + - - 40.2 + + 24.2 @@ -72,12 +72,12 @@ - + - - 40.4 + + 24.4 @@ -85,25 +85,12 @@ - + - - 40.6 - - - - - - - - - - - - - 40.8 + + 24.6 @@ -116,20 +103,7 @@ - 41 - - - - - - - - - - - - - 41.2 + 24.8 @@ -137,12 +111,12 @@ - + - - 41.4 + + 25 @@ -150,12 +124,12 @@ - + - - 41.6 + + 25.2 @@ -163,12 +137,12 @@ - + - - 41.8 + + 25.4 @@ -181,7 +155,7 @@ - 42 + 25.6 @@ -189,12 +163,12 @@ - + - - 42.2 + + 25.8 @@ -202,12 +176,12 @@ - + - - 42.4 + + 26 @@ -239,9 +213,9 @@ - + - + @@ -258,9 +232,9 @@ - + - + @@ -277,30 +251,30 @@ - + - + gnuplot_plot_4 - - 41.22 + + 25.01 gnuplot_plot_5 - - 40.98 + + 24.79 gnuplot_plot_6 - - 40.87 + + 24.23 @@ -311,31 +285,31 @@ - + - + gnuplot_plot_8 - - 41.03 + + 25.01 gnuplot_plot_9 - - 40.97 (cv: 0.1 %) + + 24.85 (cv: 0.6 %) gnuplot_plot_10 - - 40.92 + + 24.69 diff --git a/benchmark/baseline.svg b/benchmark/image/update1x1x1.svg similarity index 91% rename from benchmark/baseline.svg rename to benchmark/image/update1x1x1.svg index aa93206bf..3a6c8fd83 100644 --- a/benchmark/baseline.svg +++ b/benchmark/image/update1x1x1.svg @@ -51,7 +51,7 @@ - 27 + 24 @@ -64,7 +64,7 @@ - 27.2 + 24.2 @@ -77,7 +77,7 @@ - 27.4 + 24.4 @@ -90,7 +90,7 @@ - 27.6 + 24.6 @@ -103,7 +103,7 @@ - 27.8 + 24.8 @@ -116,7 +116,7 @@ - 28 + 25 @@ -129,7 +129,7 @@ - 28.2 + 25.2 @@ -142,7 +142,7 @@ - 28.4 + 25.4 @@ -155,7 +155,7 @@ - 28.6 + 25.6 @@ -168,7 +168,7 @@ - 28.8 + 25.8 @@ -181,7 +181,7 @@ - 29 + 26 @@ -194,7 +194,7 @@ - 29.2 + 26.2 @@ -207,7 +207,7 @@ - 29.4 + 26.4 @@ -220,7 +220,7 @@ - 29.6 + 26.6 @@ -233,7 +233,7 @@ - 29.8 + 26.8 @@ -246,12 +246,12 @@ - 30 + 27 - Baseline - No Code + Update 1x1x1 Float @@ -278,9 +278,9 @@ - + - + @@ -297,9 +297,9 @@ - + - + @@ -316,30 +316,30 @@ - + - + gnuplot_plot_4 - - 28.46 + + 26.13 gnuplot_plot_5 - - 28.27 + + 25.27 gnuplot_plot_6 - - 28.15 + + 25.21 @@ -350,31 +350,31 @@ - + - + gnuplot_plot_8 - - 28.33 + + 25.36 gnuplot_plot_9 - - 28.28 (cv: 0.2 %) + + 25.25 (cv: 0.4 %) gnuplot_plot_10 - - 28.23 + + 25.15 @@ -388,10 +388,10 @@ - Baseline Benchmark + Update 1x1x1 Float Benchmark - No code benchmark. + kalman<float, float, float>::update(0.f) 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"iterations": 16896083, - "real_time": 4.1529228988006459e+01, - "cpu_time": 9.1552284633071466e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 85, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1482549529830862e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 86, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1483200568301811e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 87, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1459189085887132e+01, - "cpu_time": 9.1552284633071466e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 88, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1483756910266642e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 89, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1496215419130898e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 90, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1458674173647225e+01, - "cpu_time": 9.1552284633071466e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 91, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1497049932084572e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 92, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1509733345147268e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 93, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1474583186393538e+01, - "cpu_time": 9.1552284633071466e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 94, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1497286673341698e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 95, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1485289809929888e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 96, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1459644812816400e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 97, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1450713748738806e+01, - "cpu_time": 9.1552284633071466e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 98, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1467658504514290e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "iteration", - "repetitions": 100, - "repetition_index": 99, - "threads": 1, - "iterations": 16896083, - "real_time": 4.1495990514935762e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_mean", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "mean", - "aggregate_unit": "time", - "iterations": 100, - "real_time": 4.1497797383425748e+01, - "cpu_time": 9.0960431479887973e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_median", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "median", - "aggregate_unit": "time", - "iterations": 100, - "real_time": 4.1495372028389873e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_stddev", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "stddev", - "aggregate_unit": "time", - "iterations": 100, - "real_time": 5.0506264057059894e-02, - "cpu_time": 4.6508631068420947e-01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_cv", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "cv", - "aggregate_unit": "percentage", - "iterations": 100, - "real_time": 1.2170830078136179e-03, - "cpu_time": 5.1130618348819460e-03, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_min", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "min", - "aggregate_unit": "time", - "iterations": 100, - "real_time": 4.1407851743410241e+01, - "cpu_time": 9.0627514081222259e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_max", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "max", - "aggregate_unit": "time", - "iterations": 100, - "real_time": 4.1881884689154312e+01, - "cpu_time": 9.2477055184920658e+01, - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_BigO", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "BigO", - "aggregate_unit": "time", - "cpu_coefficient": 9.0960431479887944e+01, - "real_coefficient": 4.1497797383425755e+01, - "big_o": "(1)", - "time_unit": "ns" - }, - { - "name": "update1x1x1/repeats:100/manual_time_RMS", - "family_index": 6, - "per_family_instance_index": 0, - "run_name": "update1x1x1/repeats:100/manual_time", - "run_type": "aggregate", - "repetitions": 100, - "threads": 1, - "aggregate_name": "RMS", - "aggregate_unit": "percentage", - "rms": 5.0874322908486466e-03 - } - ] -} diff --git a/benchmark/baseline.plt b/benchmark/script/baseline.plt similarity index 94% rename from benchmark/baseline.plt rename to benchmark/script/baseline.plt index 85f18573d..12a81a243 100644 --- a/benchmark/baseline.plt +++ b/benchmark/script/baseline.plt @@ -40,7 +40,7 @@ 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 output "kalman/benchmark/image/baseline.svg" set key noautotitle set key inside top left reverse Left set ylabel "Time (ns)" @@ -48,11 +48,11 @@ 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 yrange [13 : 15] set ytics .2 set xtics ("Baseline - No Code" 0) -plot "/tmp/baseline.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ +plot "/tmp/kalman/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, \ diff --git a/benchmark/float.plt b/benchmark/script/float.plt similarity index 77% rename from benchmark/float.plt rename to benchmark/script/float.plt index 88bae9dc1..51501d230 100644 --- a/benchmark/float.plt +++ b/benchmark/script/float.plt @@ -40,18 +40,18 @@ 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 output "kalman/benchmark/image/float.svg" set ylabel "Time (ns)" set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 4.5 ] set style fill solid border linecolor "black" -set yrange [25 : 45] +set yrange [12 : 27] 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 +set xtics ("Baseline - No Code" 0, "Predict 1x1x0" 1, "Predict 1x1x1" 2, "Update 1x1x0" 3, "Update 1x1x1" 4) 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 +plot "/tmp/kalman/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \ + "/tmp/kalman/predict1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/kalman/predict1x1x1.csv" using (2):1 with boxes linecolor rgb "#F1C40F" notitle, \ + "/tmp/kalman/update1x1x0.csv" using (3):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/kalman/update1x1x1.csv" using (4):1 with boxes linecolor rgb "#F1C40F" notitle diff --git a/benchmark/float1x1x0.plt b/benchmark/script/float1x1x0.plt similarity index 82% rename from benchmark/float1x1x0.plt rename to benchmark/script/float1x1x0.plt index b21a39b16..532e86f97 100644 --- a/benchmark/float1x1x0.plt +++ b/benchmark/script/float1x1x0.plt @@ -40,16 +40,16 @@ 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 output "kalman/benchmark/image/float1x1x0.svg" set ylabel "Time (ns)" set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 2.5 ] set style fill solid border linecolor "black" -set yrange [20 : 45] +set yrange [12 : 27] set ytics 1 -set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2, "Operator()" 3) rotate by 345 +set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2) 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 +plot "/tmp/kalman/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \ + "/tmp/kalman/predict1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/kalman/update1x1x0.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle diff --git a/benchmark/float1x1x1.plt b/benchmark/script/float1x1x1.plt similarity index 82% rename from benchmark/float1x1x1.plt rename to benchmark/script/float1x1x1.plt index d10444446..b687c7d39 100644 --- a/benchmark/float1x1x1.plt +++ b/benchmark/script/float1x1x1.plt @@ -40,16 +40,16 @@ 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 output "kalman/benchmark/image/float1x1x1.svg" set ylabel "Time (ns)" set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 2.5 ] set style fill solid border linecolor "black" -set yrange [20 : 45] +set yrange [12 : 27] set ytics 1 -set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2, "Operator()" 3) rotate by 345 +set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2) 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 +plot "/tmp/kalman/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \ + "/tmp/kalman/predict1x1x1.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \ + "/tmp/kalman/update1x1x1.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle diff --git a/benchmark/plot.sh b/benchmark/script/plot.sh similarity index 74% rename from benchmark/plot.sh rename to benchmark/script/plot.sh index 001a14d82..7d1f4c3c1 100644 --- a/benchmark/plot.sh +++ b/benchmark/script/plot.sh @@ -39,6 +39,16 @@ set -e +cp build/benchmark/*.json kalman/benchmark/result + +rm -rf /tmp/kalman +mkdir /tmp/kalman + +RESULTS=`find "kalman/benchmark/result" -iname "*.json"` +for RESULT in ${RESULTS}; do + cat ${RESULT} >> /tmp/kalman/results.json +done + # Filter benchmark results to flatten and retain plot data. jq --compact-output '[.benchmarks[] | select(has("aggregate_name")) @@ -48,35 +58,35 @@ jq --compact-output '[.benchmarks[] | 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 + ' /tmp/kalman/results.json > /tmp/kalman/flat_results.json # Individual CSV and plot results. -grep "baseline" /tmp/flat_results.json \ +grep "baseline" /tmp/kalman/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 + > /tmp/kalman/baseline.csv +gnuplot kalman/benchmark/script/baseline.plt -grep "predict1x1x0" /tmp/flat_results.json \ +grep "predict1x1x0" /tmp/kalman/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 + > /tmp/kalman/predict1x1x0.csv +gnuplot kalman/benchmark/script/predict1x1x0.plt -grep "update1x1x0" /tmp/flat_results.json \ +grep "update1x1x0" /tmp/kalman/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 + > /tmp/kalman/update1x1x0.csv +gnuplot kalman/benchmark/script/update1x1x0.plt -grep "predict1x1x1" /tmp/flat_results.json \ +grep "predict1x1x1" /tmp/kalman/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 + > /tmp/kalman/predict1x1x1.csv +gnuplot kalman/benchmark/script/predict1x1x1.plt -grep "update1x1x1" /tmp/flat_results.json \ +grep "update1x1x1" /tmp/kalman/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 + > /tmp/kalman/update1x1x1.csv +gnuplot kalman/benchmark/script/update1x1x1.plt # Groups using results. -gnuplot float1x1x0.plt -gnuplot float1x1x1.plt -gnuplot float.plt +gnuplot kalman/benchmark/script/float1x1x0.plt +gnuplot kalman/benchmark/script/float1x1x1.plt +gnuplot kalman/benchmark/script/float.plt diff --git a/benchmark/predict1x1x0.plt b/benchmark/script/predict1x1x0.plt similarity index 94% rename from benchmark/predict1x1x0.plt rename to benchmark/script/predict1x1x0.plt index 2966e92df..c86689610 100644 --- a/benchmark/predict1x1x0.plt +++ b/benchmark/script/predict1x1x0.plt @@ -40,7 +40,7 @@ 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 output "kalman/benchmark/image/predict1x1x0.svg" set key noautotitle set key inside top left reverse Left set ylabel "Time (ns)" @@ -48,11 +48,11 @@ set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 0.5 ] set style fill solid border linecolor "black" -set yrange [33 : 38] +set yrange [17 : 19] set ytics .5 set xtics ("Predict 1x1x0 Float" 0) -plot "/tmp/predict1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ +plot "/tmp/kalman/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, \ diff --git a/benchmark/predict1x1x1.plt b/benchmark/script/predict1x1x1.plt similarity index 94% rename from benchmark/predict1x1x1.plt rename to benchmark/script/predict1x1x1.plt index ca8b68cdf..b6731b357 100644 --- a/benchmark/predict1x1x1.plt +++ b/benchmark/script/predict1x1x1.plt @@ -40,7 +40,7 @@ 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 output "kalman/benchmark/image/predict1x1x1.svg" set key noautotitle set key inside top left reverse Left set ylabel "Time (ns)" @@ -48,11 +48,11 @@ set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 0.5 ] set style fill solid border linecolor "black" -set yrange [33 : 37] +set yrange [18 : 20] set ytics .2 set xtics ("Predict 1x1x1 Float" 0) -plot "/tmp/predict1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ +plot "/tmp/kalman/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, \ diff --git a/benchmark/update1x1x0.plt b/benchmark/script/update1x1x0.plt similarity index 94% rename from benchmark/update1x1x0.plt rename to benchmark/script/update1x1x0.plt index ea04a7651..90d88defb 100644 --- a/benchmark/update1x1x0.plt +++ b/benchmark/script/update1x1x0.plt @@ -40,7 +40,7 @@ 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 output "kalman/benchmark/image/update1x1x0.svg" set key noautotitle set key inside top left reverse Left set ylabel "Time (ns)" @@ -48,11 +48,11 @@ set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 0.5 ] set style fill solid border linecolor "black" -set yrange [40 : 42.5] +set yrange [24 : 26] set ytics .2 set xtics ("Update 1x1x0 Float" 0) -plot "/tmp/update1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ +plot "/tmp/kalman/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, \ diff --git a/benchmark/update1x1x1.plt b/benchmark/script/update1x1x1.plt similarity index 94% rename from benchmark/update1x1x1.plt rename to benchmark/script/update1x1x1.plt index b48824c05..e9167ebe3 100644 --- a/benchmark/update1x1x1.plt +++ b/benchmark/script/update1x1x1.plt @@ -40,7 +40,7 @@ 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 output "kalman/benchmark/image/update1x1x1.svg" set key noautotitle set key inside top left reverse Left set ylabel "Time (ns)" @@ -48,11 +48,11 @@ set grid ytics set boxwidth 0.9 set xrange [ -0.5 : 0.5 ] set style fill solid border linecolor "black" -set yrange [40.4 : 42.5] +set yrange [24 : 27] set ytics .2 set xtics ("Update 1x1x1 Float" 0) -plot "/tmp/update1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \ +plot "/tmp/kalman/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, \ diff --git a/documentation/documentation.dox b/documentation/documentation.dox index fe97f24de..7497e42de 100644 --- a/documentation/documentation.dox +++ b/documentation/documentation.dox @@ -1,9 +1,9 @@ -/*_ __ _ __ __ _ _ - | |/ / /\ | | | \/ | /\ | \ | | - | ' / / \ | | | \ / | / \ | \| | - | < / /\ \ | | | |\/| | / /\ \ | . ` | - | . \ / ____ \| |____| | | |/ ____ \| |\ | - |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| +/* __ _ __ __ _ _ +| |/ / /\ | | | \/ | /\ | \ | | +| ' / / \ | | | \ / | / \ | \| | +| < / /\ \ | | | |\/| | / /\ \ | . ` | +| . \ / ____ \| |____| | | |/ ____ \| |\ | +|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| Kalman Filter for C++ Version 0.1.0 diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt index bbd7908a4..2e983a868 100644 --- a/include/CMakeLists.txt +++ b/include/CMakeLists.txt @@ -36,31 +36,41 @@ OTHER DEALINGS IN THE SOFTWARE. For more information, please refer to ]] +if(WIN32) + set(OPTIONS "/EHsc" "/W4") +else() + set(OPTIONS + "-ansi" + "-fno-check-new" + "-fno-common" + "-fstrict-aliasing" + "-pedantic" + "-Wall" + "-Wcast-align" + "-Wchar-subscripts" + "-Wdouble-promotion" + "-Wenum-conversion" + "-Werror" + "-Wextra" + "-Wformat-security" + "-Wno-long-long" + "-Wno-psabi" + "-Wno-variadic-macros" + "-Wnon-virtual-dtor" + "-Wpointer-arith" + "-Wshadow" + "-Wundef" + "-Wunused-local-typedefs" + "-Wwrite-strings") +endif() + +if(WIN32) + set(LIBRARIES) +else() + set(LIBRARIES format) +endif() + add_library(kalman INTERFACE) target_include_directories(kalman INTERFACE ".") -target_link_libraries(kalman INTERFACE format) - -target_compile_options( - kalman - INTERFACE "-ansi" - "-fno-check-new" - "-fno-common" - "-fstrict-aliasing" - "-pedantic" - "-Wall" - "-Wcast-align" - "-Wchar-subscripts" - "-Wdouble-promotion" - "-Wenum-conversion" - "-Werror" - "-Wextra" - "-Wformat-security" - "-Wno-long-long" - "-Wno-psabi" - "-Wno-variadic-macros" - "-Wnon-virtual-dtor" - "-Wpointer-arith" - "-Wshadow" - "-Wundef" - "-Wunused-local-typedefs" - "-Wwrite-strings") +target_link_libraries(kalman INTERFACE ${LIBRARIES}) +target_compile_options(kalman INTERFACE ${OPTIONS}) diff --git a/include/fcarouge/benchmark/benchmark.hpp b/include/fcarouge/benchmark/benchmark.hpp index 22027b415..76ae41295 100644 --- a/include/fcarouge/benchmark/benchmark.hpp +++ b/include/fcarouge/benchmark/benchmark.hpp @@ -1,9 +1,9 @@ -/*_ __ _ __ __ _ _ - | |/ / /\ | | | \/ | /\ | \ | | - | ' / / \ | | | \ / | / \ | \| | - | < / /\ \ | | | |\/| | / /\ \ | . ` | - | . \ / ____ \| |____| | | |/ ____ \| |\ | - |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| +/* __ _ __ __ _ _ +| |/ / /\ | | | \/ | /\ | \ | | +| ' / / \ | | | \ / | / \ | \| | +| < / /\ \ | | | |\/| | / /\ \ | . ` | +| . \ / ____ \| |____| | | |/ ____ \| |\ | +|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| Kalman Filter for C++ Version 0.1.0 diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index e836b801a..bfbcbc34f 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -45,9 +45,9 @@ set(SOURCES "kf_6x2x0_vehicle_location.cpp" "kf_8x4x0_deep_sort_bounding_box.cpp") -foreach(sample ${SOURCES}) - get_filename_component(sample_name ${sample} NAME_WE) - add_executable(kalman_${sample_name}_driver ${sample}) - target_link_libraries(kalman_${sample_name}_driver PRIVATE eigen kalman main) - add_test(kalman_sample_${sample_name} kalman_${sample_name}_driver) +foreach(SAMPLE ${SOURCES}) + get_filename_component(NAME ${SAMPLE} NAME_WE) + add_executable(kalman_sample_${NAME}_driver ${SAMPLE}) + target_link_libraries(kalman_sample_${NAME}_driver PRIVATE eigen kalman main) + add_test(kalman_sample_${NAME} kalman_sample_${NAME}_driver) endforeach() diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index e7adb3aa7..38cff3090 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -45,9 +45,9 @@ set(SOURCES "h.cpp" "initialization.cpp") -foreach(test ${SOURCES}) - get_filename_component(test_name ${test} NAME_WE) - add_executable(kalman_${test_name}_driver ${test}) - target_link_libraries(kalman_${test_name}_driver PRIVATE eigen kalman main) - add_test(kalman_test_${test_name} kalman_${test_name}_driver) +foreach(TEST ${SOURCES}) + get_filename_component(NAME ${TEST} NAME_WE) + add_executable(kalman_test_${NAME}_driver ${TEST}) + target_link_libraries(kalman_test_${NAME}_driver PRIVATE eigen kalman main) + add_test(kalman_test_${NAME} kalman_test_${NAME}_driver) endforeach()