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selfadjoint-eigensolver-audit
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21 Commits

Author SHA1 Message Date
Rasmus Munk Larsen
93e9970964 Run clang-format on bench_small_matrix.cpp 
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
 2026-04-04 15:28:20 -07:00
Rasmus Munk Larsen
8ddbe44799 Add small fixed-size matrix benchmarks for robotics/CV workloads 
Benchmark the operations that dominate robotics and computer vision
inner loops: fixed-size matrix multiply, matrix-vector, inverse,
determinant, LLT, LDLT, PartialPivLU, ColPivHouseholderQR, JacobiSVD,
and SelfAdjointEigenSolver for sizes 2x2 through 8x9.

Key findings from the baseline measurements:
- MatMul/MatVec: excellent (<1ns for 3x3 float)
- Inverse 3x3: excellent (3.4ns)
- LLT 3x3→4x4: 8x jump (3.9→31.7ns float) due to inlining threshold
- ColPivQR 3x3: 166ns — expensive for such a small matrix
- JacobiSVD 3x3: 498ns double — the main CV bottleneck
- SelfAdjointEig: computeDirect() is 3.2x faster than iterative for 3x3
  (71ns vs 230ns) — many users may not know this API exists

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
 2026-04-04 15:06:32 -07:00
Rasmus Munk Larsen
d31a73437f Vectorize asinh and acosh for float and double 
libeigen/eigen!2376

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 21:46:36 -07:00
Rasmus Munk Larsen
9513d3878e Vectorize sinh, cosh, and log10 
libeigen/eigen!2368

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 20:41:18 -07:00
Rasmus Munk Larsen
9fe2f03fa4 Revert "Lower BDCSVD crossover threshold from 16 to 8" 
This reverts merge request !2358
 2026-03-29 15:25:09 -07:00
Rasmus Munk Larsen
12fe90db8b Lower BDCSVD crossover threshold from 16 to 8 
libeigen/eigen!2358

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 14:33:22 -07:00
Rasmus Munk Larsen
cf508c096b Add block Householder right-side application for HouseholderSequence 
libeigen/eigen!2342

Closes #3057

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-27 19:56:08 -07:00
Rasmus Munk Larsen
9d1e5f3915 Remove benchmark::internal::Benchmark* from all benchmarks 
libeigen/eigen!2332

Co-authored-by: Rasmus Munk Larsen <rlarsen@nvidia.com>
 2026-03-20 17:42:07 -07:00
Rasmus Munk Larsen
8190c82cb4 Add missing SIMD math function benchmarks 
libeigen/eigen!2284

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-11 23:20:11 -07:00
Rasmus Munk Larsen
8368a12f0f Add runtime cache size detection for ARM and improve GEMM blocking 
libeigen/eigen!2282

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-11 22:36:33 -07:00
Rasmus Munk Larsen
662d5c21ff Optimize SYMV, SYR, SYR2, and TRMV product kernels 
libeigen/eigen!2228

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-01 19:40:11 -08:00
Rasmus Munk Larsen
8525491eb1 Add dedicated unit tests and benchmark for ConditionEstimator 
libeigen/eigen!2223

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-26 18:26:38 -08:00
Rasmus Munk Larsen
a95440de17 Remove obsolete bench/ and btl/ directories 
libeigen/eigen!2217

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-25 20:19:45 -08:00
Rasmus Munk Larsen
a31de4778d Blocked Jacobi SVD sweep with L2-cache-adaptive threshold 
libeigen/eigen!2206

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
Co-authored-by: Rasmus Munk Larsen <rmlarsen@google.com>
 2026-02-25 10:03:05 -08:00
Rasmus Munk Larsen
16da0279f1 Add benchmarks for unsupported modules and extend supported benchmarks 
libeigen/eigen!2179

Closes #3036

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-24 17:12:33 -08:00
Rasmus Munk Larsen
1f49bf96cf Add new benchmarks for Core, LU, and QR operations 
libeigen/eigen!2177

Closes #3035

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-22 12:19:37 -08:00
Rasmus Munk Larsen
d4077a6e99 Reorganize benchmarks into subdirectories and clean up Eigen sources 
libeigen/eigen!2176

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-21 17:46:55 -08:00
Rasmus Munk Larsen
374fe225bf Reduce GEMV and TRSM benchmark sizes for faster routine runs 
libeigen/eigen!2163

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-20 00:56:57 -08:00
Rasmus Munk Larsen
9c63d26dec Remove reference to nonexistent spmv.cpp in benchmarks 
libeigen/eigen!2157

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-19 04:22:35 -08:00
Rasmus Munk Larsen
552ca8f15f Simplify GEBP micro-kernel and improve blocking heuristics 
libeigen/eigen!2142

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-18 13:16:14 -08:00
Rasmus Munk Larsen
3108f6360e Migrate Eigen benchmarks to the Google benchmark framework 
libeigen/eigen!2132

Closes #3025

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-02-17 20:51:36 -08:00