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AP_Math: use /2 in place of *0.5f

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MdB says:

dividing by 2 is actually optimal. It's type correct for all usage, and the compiler generates the multiplication if it's float, and sticks with divide for integers

Godbolt indicates on any optimization level (O1-O3, and Os) that the compiler will correctly optimize the / 2 into a float multiplication if using a float, but if using integer types in the template it will stick with the / 2 which is faster then doing the conversions to/from float.
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Peter Barker 2019-04-05 09:31:02 +11:00 committed by Tom Pittenger
parent 31daaf9933
commit ce53ae63ae
1 changed files with 1 additions and 1 deletions
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libraries/AP_Math/matrixN.cpp
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@ -48,7 +48,7 @@ void MatrixN<T,N>::force_symmetry(void)
{ {
for (uint8_t i = 0; i < N; i++) { for (uint8_t i = 0; i < N; i++) {
for (uint8_t j = 0; j < (i - 1); j++) { for (uint8_t j = 0; j < (i - 1); j++) {
v[i][j] = (v[i][j] + v[j][i]) * 0.5f; v[i][j] = (v[i][j] + v[j][i]) / 2;
v[j][i] = v[i][j]; v[j][i] = v[i][j];
} }
} }