Dima/covar speedup #399
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Dima/covar speedup #399
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Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
clalancette
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May 13, 2021
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Hey everyone,
here is a small contribution to speedup the conversion of the flat array into a nested array. The new implementation is brachless and yields under gcc9.3 in a 6 (with O2) to 8 (with O3) times faster computation:
https://quick-bench.com/q/rShFc-mEK290Dcms2cUx1XcwuMs
Play around with the lib-versions and settings (don't pick clang since clang will remove the operations entirely).
Best,
Dima