On 11/26/2010 07:07 AM, Armin Hornung wrote:
>>>
>> Have you considered using Eigen2/3 for vector/matrix/quaternion math?
>> I would expect this to yield further performance improvements and it
>> would relieve you from maintaining your own matrix/quaternion library.
>>
> We considered and discussed that just recently. It will definitely speed
> up at least the math-related parts!

Kai did an excellent job at integrating Eigen3 into the OctoMap2 package in trunk to speed up the math. He can tell you 
more about it, though it will take a few iterations together with Armin to make the code as stable as OctoMap.

Cheers,
Radu.