perf(base): speed up isR/ishom/ishom2 orthogonality checks - #213
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perf(base): speed up isR/ishom/ishom2 orthogonality checks#213petercorke wants to merge 1 commit into
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np.linalg.det/norm and np.eye carry large dispatch overhead relative to the actual work for 2x2/3x3 matrices, dominating SE3/SO3 constructor cost when check=True. Replace with explicit cofactor- expansion determinants and a squared Frobenius residual for the 2x2 and 3x3 cases (falling back to the generic path otherwise), and replace the bottom-row `all(... == np.array(...))` checks in ishom/ishom2 with direct scalar comparisons. ~2x faster isR, ~30-40% faster SE3(T, check=True) construction. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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This was referenced Aug 21, 2026
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Summary
isR(SO(2)/SO(3) orthogonality test used bySE3/SO3/SE2/SO2construction withcheck=True) previously went throughnp.linalg.det/np.linalg.norm/np.eye, whose generic dispatch overhead dominates cost for such small (2x2/3x3) matrices. Added explicit fast paths for the 3x3 and 2x2 cases using a hand-written cofactor-expansion determinant and a squared-residual orthogonality check, falling back to the original generic implementation for any other size.ishom/ishom2bottom-row validity checks replacedall(T[-1,:] == np.array([...]))(array allocation + Python-levelall()over a NumPy bool array) with direct scalar comparisons.isRis roughly 2x faster standalone, andSE3(T, check=True)construction is roughly 30-40% faster end to end.Test plan
pytest tests/— 343 passeddtype=object) matrices withcheck=Trueis unchanged (was already unsupported before this change, for unrelated reasons -np.linalg.det/normdon't supportdtype=objecteither)🤖 Generated with Claude Code