refactor: remove explicit SE3 inverse helper by dvorak0 · Pull Request #142 · UniflexAI/tinynav

dvorak0 · 2026-05-15T02:51:06Z

Summary

remove the custom se3_inv helper
replace all call sites with np.linalg.inv(...)
rely on the global OPENBLAS_NUM_THREADS=1 setting to avoid small-matrix OpenBLAS thread overhead

python3 -m py_compile tinynav/core/math_utils.py tinynav/core/map_node.py tinynav/core/perception_node.py
git diff --check
verified no remaining se3_inv references with git grep

github-actions · 2026-05-15T02:51:19Z

cloc	github.com/AlDanial/cloc v 2.04 T=0.17 s (252.1 files/s, 37542.5 lines/s)

Language	files	blank	comment	code
Python	13	617	262	3457
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	15	41	9	272
Dockerfile	1	31	32	203
JSON	2	8	0	58
TOML	1	4	0	58
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	42	938	362	4955

Remove explicit SE3 inverse helper

2cf2007

dvorak0 merged commit bd08dab into main May 15, 2026
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