Fast Math
From RoboWiki
Fragment of a discussion from Talk:XanderCat
Thank you. I may give it a go. In the meantime, I've figured out how to make a few significant improvements that reduce the number of trig functions used. In particular, I have a method in my robot predictor that calculates sin and cos for every predicted robot movement; revising it to only recalculate sin and cos when heading changes actually made a significant improvement.
