Speed up quad_segment_maxima by skipping unneeded lineparam calculation.#305
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christian-rauch merged 1 commit intoAprilRobotics:masterfrom Dec 29, 2023
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In quad_segment_maxima, nothing uses params23 and params30, but these
are calculated anyways. The compiler isn't smart enough to know that
there are no side effects, so it doesn't skip calculating them.
On my test box, this takes
fit quads to clusters 8.896000 ms 23.968000 ms
to
fit quads to clusters 8.429000 ms 23.490000 ms
which is measurable.
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
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In quad_segment_maxima, nothing uses params23 and params30, but these are calculated anyways. The compiler isn't smart enough to know that there are no side effects, so it doesn't skip calculating them.
On my test box, this takes
fit quads to clusters 8.896000 ms 23.968000 ms
to
fit quads to clusters 8.429000 ms 23.490000 ms
which is measurable.