Small matrix calc speedup in collision_distance_field_types#666
Merged
AndyZe merged 4 commits intomoveit:mainfrom Oct 2, 2021
Merged
Small matrix calc speedup in collision_distance_field_types#666AndyZe merged 4 commits intomoveit:mainfrom
AndyZe merged 4 commits intomoveit:mainfrom
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Codecov Report
@@ Coverage Diff @@
## main #666 +/- ##
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- Coverage 54.19% 54.18% -0.01%
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Files 192 192
Lines 20187 20187
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- Hits 10939 10936 -3
- Misses 9248 9251 +3
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henningkayser
approved these changes
Sep 28, 2021
Contributor
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I'm curious: did you measure a real speed-up here? I would expect Eigen to be smart enough here |
Member
Author
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I didn't actually benchmark it... |
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I thought it would be a good idea to scour the codebase for places where the fact that (rotation matrix transpose) == (rot. matrix inverse) could be used to speed up calculations. Since a transpose is cheaper than an inverse.
This is the only place I found where that applies.
Eigen has some internal optimizations for Isometry3d types, but I doubt it's smart enough to look ahead and realize it only needs to invert the 3x3 rotation matrix.
Reviewers will need a slightly advanced background in linear algebra, which is why I tagged @mamoll and @v4hn.