added benchmark for test vectorization in geometry package

bench/benchGeometry.cpp

@@ -0,0 +1,84 @@
+#include <iostream>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <bench/BenchTimer.h>
+using namespace Eigen;
+
+#ifndef REPEAT
+#define REPEAT 1000000
+#endif
+
+enum func_opt
+{
+    TV,
+    TMATRIXV
+};
+
+
+template <class res, class arg1, class arg2, int opt>
+struct func;
+
+template <class res, class arg1, class arg2>
+struct func<res, arg1, arg2, TV>
+{
+    static __attribute__ ((noinline)) res run( arg1& a1, arg2& a2 )
+    {
+	asm ("");
+	return a1 * a2;
+    }
+};
+
+template <class res, class arg1, class arg2>
+struct func<res, arg1, arg2, TMATRIXV>
+{
+    static __attribute__ ((noinline)) res run( arg1& a1, arg2& a2 )
+    {
+	asm ("");
+	return a1.matrix() * a2;
+    }
+};
+
+
+template <class func, class arg1, class arg2>
+struct test_transform
+{
+    static void run()
+    {
+	arg1 a1;
+	a1.setIdentity();
+	arg2 a2;
+	a2.setIdentity();
+
+	BenchTimer timer;
+	timer.reset();
+	for (int k=0; k<10; ++k)
+	{
+	    timer.start();
+	    for (int k=0; k<REPEAT; ++k)
+		a2 = func::run( a1, a2 );
+	    timer.stop();
+	}
+	std::cout << timer.value() << "s  " << (double(REPEAT)/timer.value())/(1024.*1024.*1024.) << " GFlops\n";
+    }
+};
+
+
+#define run_test( op, scalar, mode, option, vsize ) \
+    std::cout << #op << " " << #scalar << " " << #mode << " " << #option << " " << #vsize " "; \
+    {\
+	typedef Transform<scalar, 3, mode, option> Trans;\
+	typedef Matrix<scalar, vsize, 1, option> Vec;\
+	typedef func<Vec,Trans,Vec,op> Func;\
+	test_transform< Func, Trans, Vec >::run();\
+    }
+
+int main(int argc, char* argv[])
+{
+    run_test(TV, float, Isometry, AutoAlign, 3);
+    run_test(TV, float, Isometry, DontAlign, 3);
+    run_test(TV, float, Isometry, AutoAlign, 4);
+    run_test(TV, float, Isometry, DontAlign, 4);
+
+    run_test(TMATRIXV, float, Isometry, AutoAlign, 4);
+    run_test(TMATRIXV, float, Isometry, DontAlign, 4);
+}