Modified Gram-Schmidt vs Householder QR: A Performance Showdown in Eigen
I submitted a Modified Gram-Schmidt QR decomposition to Eigen and a maintainer asked: why? Here’s the benchmark data that answered the question.
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Fixing an Infinite Loop in Eigen's 128-bit Integer Division
How a missing overflow check in Eigen’s TensorUInt128 division operator caused an infinite loop for any dividend above 2^127 — and the one-line fix that stopped it.
How GCC's std::fill_n Silently Regressed Eigen's AutoDiffScalar Performance
A performance optimization in Eigen’s fill path assumed all scalar types are equal. GCC’s libstdc++ disagreed — and AutoDiffScalar paid the price.
Fixing GCC False-Positive Warnings in Eigen: A Deep Dive into -Warray-bounds at -O3
How a GCC 13 false-positive -Warray-bounds warning in Eigen’s TensorContraction led to a lesson about if constexpr, C++14 portability, and the right way to suppress compiler warnings in a large codebase.
behavior-tree-lite -- C++23 Header-Only Behavior Tree Library
Header-only C++23 behavior tree with compile-time DSL, zero heap allocations, and sub-nanosecond node dispatch. 10x smaller binary than BehaviorTree.CPP.
fiber-nav-sim -- PX4 + Gazebo VTOL Navigation Simulator
GPS-denied VTOL navigation simulator using fiber optic odometry and monocular vision fusion. PX4 SITL + Gazebo Harmonic + ROS 2 Jazzy. Sub-meter accuracy over 3.3km.
l2-hybrid-protocol -- Low-Latency Layer 2 Protocol for Drone Telemetry
High-performance Layer 2 raw socket networking library for Linux. Bypasses the kernel transport and network layers for deterministic latency in real-time UAV telemetry.
strong-types -- Compile-Time Type Safety for C++ Primitives
Zero-dependency C++23 strong type library with SI units, dimensional analysis, quantity points, and safe integer math. Prevents unit and coordinate mix-ups at compile time.