Converted some functions in the MPL::MapUtil class to inline and changed the x-y-z traversing order to be more cache friendly given the storage order of the map.
I added some unit tests to assure the same functionality and some benchmarks to show the performance improvement.
Lasty I changed the source file for the VoxelMapper unit tests to have a 2-space indentation instead of 4-space for consistency with the rest of the files in the repo.
Here is a screen shot showing that calling these functions is faster by defining them as inline functions.
XuRobotics
commented
2 years ago
Converted some functions in the MPL::MapUtil class to inline and changed the x-y-z traversing order to be more cache friendly given the storage order of the map.
I added some unit tests to assure the same functionality and some benchmarks to show the performance improvement.
Lasty I changed the source file for the VoxelMapper unit tests to have a 2-space indentation instead of 4-space for consistency with the rest of the files in the repo.
Here is a screen shot showing that calling these functions is faster by defining them as inline functions.