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ARB

v0.6.0 Breaking

This release includes 2 breaking changes for platform teams planning a safe upgrade.

Published 4mo Model Serving & MLOps
✓ No known CVEs patched
Read the diff → Tool health → What is this tool? →

✓ No known CVEs patched in this version

Topics

aba articulated-robots autodiff automatic-differentiation computer-graphics cpp23
+10 more
crba featherstone gjk glm kinematic-trees newton-euler rbdl rigid-body-dynamics rnea urdf

Summary

AI summary

Removed transpose accessors like topLeftT and rightT, improving performance.

Full changelog

Improvements in operator*() performance across the board. Essentially avoid 6x6 maths and work with 3D operators. Reduces memory 'traffic' and allows GLM optimisations to work, at the expense of some clarity.

Removed transpose accessors such as topLeftT and rightT. It is faster to use arb::transpose. Less interface clutter.

Removed unnecessary const declarations from method returns. This should facilitate compiler optimisation.

Breaking Changes

  • Removed transpose accessors such as topLeftT and rightT; use arb::transpose instead.
  • Removed unnecessary const declarations from method return types.
View diff on GitHub

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Beta — feedback welcome: [email protected]