perf: compute Twist3.Ad() directly instead of via a throwaway SE3 - #211
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petercorke wants to merge 1 commit into
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perf: compute Twist3.Ad() directly instead of via a throwaway SE3#211petercorke wants to merge 1 commit into
petercorke wants to merge 1 commit into
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Ad() was self.SE3().Ad() -- constructs a full validated SE3 object just to immediately extract its array and discard the object. Computes the same result directly (trexp then tr2adjoint, skipping the SE3 constructor/validation overhead): bit-identical output, ~1.4x faster. No existing test covered Ad() at all; added one first (hand-verified pure-rotation and pure-translation cases, plus a cross-check against SE3.Ad() over 20 random transforms) and confirmed it passes unchanged against both the old and new implementation.
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Summary
Twist3.Ad()wasreturn self.SE3().Ad()-- builds a full, validatedSE3object purely to immediately extract its array inside.Ad()and discard the object.smb.tr2adjoint(smb.trexp(self.S, check=False)). Same underlying math (trexpthentr2adjoint), just without the intermediate pose-object construction.Ad()at all. Added one first, with hand-verified ground truth (not derived fromAd()itself) for pure-rotation (block-diagonal[[R,0],[0,R]]) and pure-translation (skew(t)coupling) cases, plus a cross-check againstSE3.Ad()over 20 random transforms -- confirmed it passes unchanged against both the old and new implementation.Test plan
test_Adpasses against the old implementation (self.SE3().Ad()) -- establishes the correctness baselinepytest tests/-- full suite, 343 passed, no regressionsnp.testing.assert_almost_equal)