On 4/14/2014 10:56 AM, John Kasunich wrote: > > For PCs, floating point math is pretty much as fast as integer math. > (Some operations are faster actually.) I think the same applies to > ARMs like BeagleBone.
On the ARM, basic floating point is fast (+-*/), and there is hardware support for square-root. Other functions are slow (ie: sin/cos) and all floating-point is slower than integer math. That said, the time spent doing floating point math in the motion and trajectory planner is minimal, even on a BeagleBone. The big CPU hog is the interface. :-/ -- Charles Steinkuehler char...@steinkuehler.net
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