| commit | 487250eb27256a41d38c5037bdac9a09a3160edb | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Fri Apr 05 14:20:37 2013 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Sun Apr 14 09:33:11 2013 -0700 |
| tree | 3bb3dd38bfd5da67d532652ee18921825aabc94e | |
| parent | eeedd3a59281eb27025d7f9aa944d9aff0666590 [diff] |
Minor cleanups.
1. Further BLAS and heap allocation cleanups in schur_eliminator_impl.h
2. Modularize blas.h using macros.
3. Lint cleanups from William Rucklidge.
4. Small changes to jet.h
5. ResidualBlock now uses blas.h
Performance improvements:
For static and dynamic sized blocks, the peformance is not changed much.
-use_quaternions -ordering user -linear_solver sparse_schur
master change
problem: 16-22106
gcc 3.4 3.3
clang 2.8 2.7
problem: 49-7776
gcc 1.7 1.7
clang 1.4 1.4
problem: 245-198739
gcc 80.1 79.6
clang 80.6 76.2
problem: 257-65132
gcc 12.2 12.0
clang 10.4 10.2
problem: 356-226730
gcc 99.0 96.8
clang 88.9 88.3
problem: 744-543562
gcc 361.5 356.2
clang 352.7 343.5
problem: 1024-110968
gcc 45.9 45.6
clang 42.6 42.1
However, performance when using local parameterizations is
significantly improved due to residual_block.cc using blas.h
-use_quaternions -use_local_parameterization -ordering user -linear_solver sparse_schur
master change
problem: 16-22106
gcc 3.6 3.3
clang 3.5 2.8
problem: 49-7776
gcc 1.8 1.6
clang 1.7 1.4
problem: 245-198739
gcc 79.7 76.1
clang 79.7 73.0
problem: 257-65132
gcc 12.8 11.9
clang 12.3 9.8
problem: 356-226730
gcc 101.9 93.5
clang 105.0 86.8
problem: 744-543562
gcc 367.9 350.5
clang 355.3 323.1
problem: 1024-110968
gcc 43.0 40.3
clang 41.0 37.5
Change-Id: I6dcf7476ddaa77cb116558d112a9cf1e832f5fc9