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ros / geometry2

A set of ROS packages for keeping track of coordinate transforms.
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Do not waste time constructing error string if nobody is interested in it in canTransform(). #469

Closed peci1 closed 3 years ago

peci1 commented 4 years ago

Solves #468.

Also added two more tests to speed_test to verify that this patch helps.

peci1 commented 4 years ago

Speed test before patch:

Info:    9 to 4
Info:    Doing 1000000 10-level 1.000000-interval tests
Info:    canTransform at Time(3) without error string took 2.520531 for an average of 0.000002521
Info:    canTransform at Time(3) with error string took 4.727922 for an average of 0.000004728

Speed test after patch:

Info:    9 to 4
Info:    Doing 1000000 10-level 1.000000-interval tests
Info:    canTransform at Time(3) without error string took 0.221355 for an average of 0.000000221
Info:    canTransform at Time(3) with error string took 4.029124 for an average of 0.000004029

That's tenfold speedup!

Other cases (when the transform exists) are without change.

peci1 commented 3 years ago

Thanks for merging. Will you pick this up to backport into Melodic, please?