test_grassmann.jl

using Grassmann;
@basis D"1,1,1,0";
P = [ rand()*v124 + rand()*v134 + rand()*v234 + v123 for i=1:1000 ];
L = [ rand()*v12 + rand()*v13 + rand()*v14 + rand()*v23 + rand()*v24 + rand()*v34 for i=1:1000 ];
A = [ rand() for i=1:1000];
test2(L,A,P) = (LA = exp.(L.*A); LA.*P.*.~LA)
@time begin for j in 1:1000; test2(L,A,P); end; end;
# Checked with the Grassmann author - this setup re-allocates but our non-allocating tests were slower.

test_klein.cpp

// g++ test_klein.cpp -lm -o test_klein -msse4.2 -O2
#include <stdio.h>
#include <math.h>
#include <chrono>
#include "klein/klein.hpp"

using namespace kln;

double rnd() { return (double)rand() / RAND_MAX; } // bad random.

int main() {
  
  // Array of 1000 points, initialize with random values.
  point points[1000];
  for (int i=0; i<1000; ++i) points[i] = point(rnd(),rnd(),rnd());
  
  // Array of 1000 lines, initialize with random values.
  line lines[1000];
  for (int i=0; i<1000; ++i) lines[i] = line(rnd(),rnd(),rnd(),rnd(),rnd(),rnd());
  
  // Array of 1000 random angles.
  float angles[1000];
  for (int i=0; i<1000; ++i) angles[i] = (float)rnd();

  // A place for the outputs
  point results[1000];

  // Time  e^(angle*line) * point * ~(e^(angle*line))
  auto start = std::chrono::high_resolution_clock::now();
  
  for (int t=0; t<1000; ++t) {
    for (int i=0; i<1000; ++i) {
      motor m = exp( angles[i] * lines[i] );
      results[i] = m(points[i]);
    }  
  }
  
  auto elapsed = std::chrono::high_resolution_clock::now() - start;
  
  long long microseconds = std::chrono::duration_cast<std::chrono::microseconds>(elapsed).count();
  
  printf("1 runs on 1 samples.\n\n e^(angle*line) * point * ~(e^(angle*line))\n\n");
  printf("time in microseconds : %lld \ntime in seconds : %f\n",microseconds,(double) microseconds / 1000000);
  
  // Some debug output. (and force compiler to do the calculations ...)
  for (int i=0; i<10; ++i) printf("point %d : %f,%f,%f\n",i,points[i].x(),points[i].y(),points[i].z());
  for (int i=0; i<10; ++i) printf("line %d : %2f,%2f,%2f - %2f,%2f,%2f\n",i,lines[i].e01(),lines[i].e02(),lines[i].e03(),lines[i].e12(),lines[i].e31(),lines[i].e23());
  for (int i=0; i<10; ++i) printf("angle %d : %f\n",i,angles[i]);
  for (int i=0; i<10; ++i) printf("point %d : %f,%f,%f\n",i,results[i].x(),results[i].y(),results[i].z());
  
  return 0;
}