performance comparison of math libraries

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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 ros.org, 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.