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performance comparison of math libraries

asked 2011-11-10 06:26:06 -0600

ben gravatar image

updated 2011-11-10 07:08:38 -0600

AHornung gravatar image

I was wondering if anyone has benchmarked the performance of the commonly used math libraries in the ROS community such as the KDL, Bullet & Eigen. In my work, I have to do hundreds of thousands of rotations & transformations at run time and right now I'm primarily using the KDL but I never looked into the performance of the individual libraries to determine if one is much faster or much slower than the others.

In a quick search on, I found a couple of pages, MathLibraries & RotationMethods, that discuss the libraries but don't offer a performance comparison. If someone has any insight into this topic, I'll post it on the MathLibraries page.

Should I assume that all of these libraries have comparable performance? If no one responds, then I'll just do some simple benchmarking of my own and post the results.

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I would be interested in seeing this comparison as well!
AHornung gravatar image AHornung  ( 2011-11-10 07:10:03 -0600 )edit
The Eigen benchmarks are also interesting: but only cover large matrix and vector operations, and not the traditional 3D coordinate transforms. Bullet at least looks highly optimized for that task.
AHornung gravatar image AHornung  ( 2011-11-10 07:13:43 -0600 )edit
Thanks Armin. Yea, those stats are interesting but are hard for me to apply to work like we do - mainly 3D transforms.
ben gravatar image ben  ( 2011-11-10 07:19:04 -0600 )edit

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answered 2012-07-15 05:11:15 -0600

joq gravatar image

Coming up with a good, representative benchmark for comparing math libraries is quite a lot of work. The results would be interesting, but maybe no one has done it yet for those libraries.

If you come up with comparisons of your own, please post a link on ros-users. I am sure many people will be interested in your results.

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Asked: 2011-11-10 06:26:06 -0600

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Last updated: Jul 15 '12