robot-sim
diff --git a/‎spatialmath/timing.py
Copy file name to clipboardExpand all lines: spatialmath/timing.py
+12Lines changed: 12 additions & 0 deletions b/‎spatialmath/timing.py
Copy file name to clipboardExpand all lines: spatialmath/timing.py
+12Lines changed: 12 additions & 0 deletions
@@ -221,9 +221,21 @@ def result(op, t):
 a = np.r_[1.0, 2.0, 3.0]
 b = np.r_[-5.0, 4.0, 3.0]
 
+A = np.random.randn(6,6)
+As = (A + A.T) / 2
+bb = np.random.randn(6)
 '''
 table.rule()
 
+t = timeit.timeit(stmt='c = np.linalg.inv(As)', setup=misc_setup, number=N)
+result("np.inv(As)", t)
+
+t = timeit.timeit(stmt='c = np.linalg.pinv(As)', setup=misc_setup, number=N)
+result("np.pinv(As)", t)
+
+t = timeit.timeit(stmt='c = np.linalg.solve(As, bb)', setup=misc_setup, number=N)
+result("np.solve(As, b)", t)
+
 t = timeit.timeit(stmt='c = np.cross(a,b)', setup=misc_setup, number=N)
 result("np.cross()", t)