allwpilib

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Commit Graph

Author	SHA1	Message	Date
Tyler Veness	3a0e484691	[wpimath] Fix clang-tidy warnings (#5403 )	2023-06-20 11:35:15 -07:00
Tyler Veness	5acc5e22aa	[wpimath] Only compute eigenvalues with EigenSolvers (#5369 ) We don't need the eigenvectors, so we're doing a lot of extra work we don't need to.	2023-06-07 09:47:09 -07:00
Tyler Veness	52bd5b972d	[wpimath] Rewrite DARE solver (#5328 ) I timed the DARE unit tests, and the new solver is 0 to 100% faster in all cases (that is, it's at least as fast as Drake's and up to 2x faster in some cases). The new solver is also much simpler, takes less time to compile, and drops the libwpimath.so size from 325 MB to 301 MB. I think most of the compilation time is coming from the eigenvalue decompositions used to enforce argument preconditions.	2023-05-14 22:23:00 -07:00

Author

SHA1

Message

Date

Tyler Veness

3a0e484691

[wpimath] Fix clang-tidy warnings (#5403 )

2023-06-20 11:35:15 -07:00

Tyler Veness

5acc5e22aa

[wpimath] Only compute eigenvalues with EigenSolvers (#5369 )

We don't need the eigenvectors, so we're doing a lot of extra work we
don't need to.

2023-06-07 09:47:09 -07:00

Tyler Veness

52bd5b972d

[wpimath] Rewrite DARE solver (#5328 )

I timed the DARE unit tests, and the new solver is 0 to 100% faster in
all cases (that is, it's at least as fast as Drake's and up to 2x faster
in some cases).

The new solver is also much simpler, takes less time to compile, and
drops the libwpimath.so size from 325 MB to 301 MB.

I think most of the compilation time is coming from the eigenvalue
decompositions used to enforce argument preconditions.

2023-05-14 22:23:00 -07:00

3 Commits