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perf(base): speed up isR/ishom/ishom2 orthogonality checks by petercorke · Pull Request #213 · rai-opensource/spatialmath-python · GitHub

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perf(base): speed up isR/ishom/ishom2 orthogonality checks - #213

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perf(base): speed up isR/ishom/ishom2 orthogonality checks#213
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petercorke commented Aug 21, 2026

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Summary

  • isR (SO(2)/SO(3) orthogonality test used by SE3/SO3/SE2/SO2 construction with check=True) previously went through np.linalg.det/np.linalg.norm/np.eye, whose generic dispatch overhead dominates cost for such small (2x2/3x3) matrices. Added explicit fast paths for the 3x3 and 2x2 cases using a hand-written cofactor-expansion determinant and a squared-residual orthogonality check, falling back to the original generic implementation for any other size.
  • ishom/ishom2 bottom-row validity checks replaced all(T[-1,:] == np.array([...])) (array allocation + Python-level all() over a NumPy bool array) with direct scalar comparisons.
  • Net effect: isR is roughly 2x faster standalone, and SE3(T, check=True) construction is roughly 30-40% faster end to end.

Test plan

  • pytest tests/ — 343 passed
  • Verified pre-existing behaviour for symbolic (SymPy dtype=object) matrices with check=True is unchanged (was already unsupported before this change, for unrelated reasons - np.linalg.det/norm don't support dtype=object either)

🤖 Generated with Claude Code

perf(base): speed up isR/ishom/ishom2 orthogonality checks
8f1ab30 
np.linalg.det/norm and np.eye carry large dispatch overhead relative
to the actual work for 2x2/3x3 matrices, dominating SE3/SO3
constructor cost when check=True. Replace with explicit cofactor-
expansion determinants and a squared Frobenius residual for the 2x2
and 3x3 cases (falling back to the generic path otherwise), and
replace the bottom-row `all(... == np.array(...))` checks in
ishom/ishom2 with direct scalar comparisons.

~2x faster isR, ~30-40% faster SE3(T, check=True) construction.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

codecov-commenter commented Aug 21, 2026

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⚠️ Please install the to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

❌ Patch coverage is 94.73684% with 1 line in your changes missing coverage. Please review.

Files with missing lines Patch % Lines
spatialmath/base/transformsNd.py 94.73% 1 Missing ⚠️

📢 Thoughts on this report? Let us know!

This was referenced Aug 21, 2026
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