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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
728 stars 164 forks source link

Polymorphic function params (single vs double FP) #165

Open saosebastiao opened 1 year ago

saosebastiao commented 1 year ago

Hi, I've been looking through this project quite a bit and I think the concept is super interesting and promising.

I just wanted to point out that most microcontroller targets that this could potentially run on can do double precision calculations, but they only have single precision FPUs (if they have an FPU at all). This effectively means that double precision calculations are going to be anywhere from 2x-32x slower than single precision calculations

With that in mind, it would be cool if there was a way to select via compilation arguments whether to use single vs double precision calculations, and that way we could get some performance enhancement on microcontrollers.

pantor commented 1 year ago

Great suggestion, I like that idea!