Reduce repeated computation in lidar odometry - #320

Merged

JanuszBedkowski merged 6 commits into

MapsHD:mainfrom

bloom256:perf/optimize_lidar_odometry

Jan 20, 2026

Commits on Jan 20, 2026

convergence_delta_threshold parameter added to .toml config (lidar_odometry_control section)
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7b8f553
compute_hessian_indoor and compute_hessian_outdoor moved to separate functions
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361cd2b
tait-bryan poses precalculated for intermediated trajectory (lidar odometry)
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6646cc3
perf: use precomputed sin/cos in lidar odometry AtPA/AtPB kernels
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c6fd957
TODO comment added about possible future optimization
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29e0fc9
style: clang-format
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0c81e86