|Re: [eigen] Calls to copyPacketByOuterInner: when do they happen?|
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On 25.11.2013 18:54, Gael Guennebaud wrote:
> I'm surprised that this function (copyPacketByOuterInner) shows up in
> the profiling results. This is a trivial function that should be inlined
> and not visible from the profiler. Which compiler and version have you
> tried? You might try with two different compilers like g++ and clang/llvm.
No it is exactly the same setup/machine/compiler. But as I said it is a
sample based profiler and I guess they are a bit trickier to interpret.
copyPacketByOuterInner definitely was not the problem.
I actually managed to fix it: turns out that in the newer version I
ommitted to properly set the vector v_J that was then used later in the
code using undefined values.
Could it be that uninitialized values have a negative impact on Eigen's
> On Mon, Nov 25, 2013 at 6:23 PM, Martin Felis
> <mailto:martin.felis@xxxxxxxxxxxxxxxxxxxxx>> wrote:
> On 25.11.2013 17:32, Christoph Hertzberg wrote:
> > On 25.11.2013 16:25, Martin Felis wrote:
> > Does it need 20% more time per call or is it called 20% more often?
> > Neither of that would account for a performance decrease by 50%.
> It's a bit tricky to say as it's a sampling based profiler, however I
> have used 2 million function calls for each method (corresponding do
> ~2200/~3800 samples) so I guess it should correspond to the amount of
> time spent in this function.
> > I doubt that you want to "avoid" calling copyPacketByOuterInner, since
> > it is usually the fastest method of copying/evaluating.
> > I guess the problem is rather that you do some extra computations in
> > some cases.
> Okay, thanks!
> > I don't really understand what's the purpose of
> > #ifdef EIGEN_CORE_H
> > in your code. This will always be true if you have Eigen included
> -- or
> > does your code run with alternate matrix libraries? Do you need the
> > .eval() where they are used? Unnecessary evals could account for some
> > unnecessary copy operations.
> You are referring to the function ForwardDynamics() that is slower, too,
> but wanted to analyse the simpler InverseDynamics() first.
> And yes I am using another library (SimpleMath) that is compatible to
> Eigen for my use but compiles considerably faster. I mainly use it
> during development. The profiling was however done using Eigen3 3.0.5
> provided by Ubuntu 12.04.
> Other than that the .eval() call is required. At least otherwise I get a
> compile error.
> > Could you link to a diff between the two versions which you profiled?
> > Maybe something obvious pops out.
> I have attached the profiling outputs. Any comments highly welcome.
> > Finally, I'm sorry for asking the obvious question:
> > Do you compile with optimization enabled (Release or RelWithDebug mode
> > in cmake)? Otherwise Eigen spends a lot of time in methods that should
> > be completely unrolled and inlined.
> Absolutely a valid question! Everything is done in Release mode (-O3
> mail : martin.felis@xxxxxxxxxxxxxxxxxxxxx
> phone : +49 6221 544983 <tel:%2B49%206221%20544983>
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mail : martin.felis@xxxxxxxxxxxxxxxxxxxxx
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