Move powf is slow to drafts.

_drafts/libm_vs_micromath_speed_comparison.qmd

@@ -0,0 +1,20 @@
+---
+title: "Rust: libm vs micromath speed comparison"
+author: "James Pace"
+date: "2024/01/16"
+---
+
+<!--
+Relevant for comparison:
+1. Distance between two points.
+2. Dicretizing a point into a grid.
+
+
+On laptop libm was way faster...
+~0.23ms compared to 0.70ms in release
+0.73ms compared to 8.66ms in debug
+
+Switching to powi micromath
+0.3ms in release
+3.0ms in debug
+-->

_drafts/powf_is_slow.md

@@ -0,0 +1,61 @@
+---
+title: "Rust: powf is slow"
+author: "James Pace"
+date: "2024/01/18"
+---
+
+I'm currently working on my motion planner on a microcontroller project and
+was looking at switching from [libm][libm] to [micromath][micromath] as the
+library I use for standard math operations.
+For context, in Rust, normal math operations (like absolute value and square
+root for floats) are provided as part of the standard library (called `std`).
+The standard library is not available in environments that don't have a backing
+operating system.
+Crates than run in those environments thus can't use `std`, which is called being
+`no_std`.
+A lot of functions that are in `std` are actually in two other crates, `core` or `alloc`
+which can be used in `no_std` environments.
+The normal math functions aren't one of them, and therefore a different library has to be
+used.
+
+My intitial implementation of the planner used `libm` (largely because I found it first),
+and when I later found `micromath` I wanted to do some profiling comparisons to see which
+one was faster.
+I'm going to make a separate blog post with statistics from the profiling, but I wanted to
+write a quick article today talking about `powf`.
+
+One of the operations my planner does a lot is find the distance between two things.
+My initial implementation did something like
+```rust
+fn distance(point1: &Point, point2: &Point) -> f32 {
+     let squared_dist = powf((point2.x - point1.x), 2.0) + powf((point2.y - point1.y), 2.0);
+     sqrt(squared_dist)
+}
+```
+which works fine.
+
+When I was profiling I switched to:
+```rust
+fn distance(point1: &Point, point2: &Point) -> f32 {
+     let squared_dist = powf((point2.x - point1.x), 2.0) + powf((point2.y - point1.y), 2.0);
+     sqrt(squared_dist)
+}
+```
+which was noticeably faster for both `libm` and `micromath` particularly on the `microbit`
+that I was using for profiling.
+
+## Does this replicate for `std::powf`?
+
+Not when building with `--release`. [^release-rant]
+
+
+
+## How much faster?
+
+[^release-rant]: As an aside, I think I'm going to switch to using `--release` when building rust code
+                 all the time. The optimizations help a ton, to the extent I would never "use" software
+                 not built with `--release` and extrapolating performance, even experientially, from
+                 binaries built with the `dev` profile is just not transferrable at all.
+
+[libm]: https://github.com/rust-lang/libm
+[micromath]: https://github.com/tarcieri/micromath

index.qmd

@@ -9,9 +9,14 @@ listing:
    sort: "date desc"
 ---
 
-TIL focuses on things I learned "today" with an emphasis on robotics and
+*Things I've Learned* or TIL is a site focused on things I've learned
+and found interesting at some point in my life.[^1]
+
+A lot of the "things" will be centered around robotics, programming, and
 open source software.
 
+[^1]: I know TIL normally stands for Today I Learned, but just focusing on what I learned
+today isn't nearly as interesting.
 
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