Profiling Matrix Operations - uw-advanced-robotics/taproot GitHub Wiki

All operations performed with 10x10 matrices stored in static memory, release build

NOTE: modm matrix operations perform significantly worse during debug build due to copy semantics used that are otherwise optimized during the release build.

NOTE: While CMSIS can handle matrix operations > 10x10, since modm does stack copies of matrices, the embedded system crashes when working with matrix operations that are too large because of stack smashing.

Matrix multiplication

• CMSIS: 64 us
• MODM: 69 us

Matrix addition

• CMSIS: 6
• MODM: 22

Matrix inverse

• CMSIS: 149
• MODM: doesn't have inverse support

Matrix transpose

• CMSIS: 6
• MODM: 20