Optimizations: Part 4 #87
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Moving
sumtoimmediatespeeds things up quite a bit, which various documentation on xtensor also shows.Evaling on the path align critic also helps uniquely to that critic, I suspect because of the manual looping calls only some of the values and computed at-time so it doesn't get to use vectorization optimizations.
The approximate atan2 also helps lower the runtime of the
atan2operation by about 2x steady state and its contribution to jitter. I see you have a PR implementing it differently, which I'll test, but this does not change the existing behavior and improves things quite a bit. There's still contribution to jitter, but usually on the order of 2-4ms where before it could get upwards of 6-10 (the rest is probably the cosine or hypot). Doesn't help with any other sources of jitter. Incremental progress.Removed
dt, as it is never used or referenced