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docs: README benchmark tables after the speed-ups
Measured on main with the faster planners, the components union-find and the vertex coordinate made with np.array: creating a vertex is 0.9 us, the components after a change are 4 ms (undirected) and 6 ms (directed) at 10,000 vertices, and a path query is 3 to 10 ms. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
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‎README.md‎

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@@ -195,39 +195,39 @@ Timings of the key operations on random geometric graphs, each vertex joined to
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| Operation | per | N=100 | N=1,000 | N=10,000 | growth exponent |
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| :----------------------------------- | :---------- | -----: | ------: | -------: | --------------: |
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| add a vertex | µs / vertex | 1.52 | 1.65 | 1.59 | 0.0 |
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| add an edge (cost from the metric) | µs / edge | 1.55 | 1.58 | 1.85 | 0.0 |
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| copy the graph | ms | 0.823 | 8.17 | 151 | 1.1 |
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| pickle and unpickle the graph | ms | 0.456 | 4.76 | 113 | 1.2 |
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| number of components, after a change | ms | 0.0292 | 0.319 | 3.86 | 1.1 |
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| add a vertex | µs / vertex | 0.83 | 0.877 | 0.896 | 0.0 |
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| add an edge (cost from the metric) | µs / edge | 1.54 | 1.64 | 1.72 | 0.0 |
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| copy the graph | ms | 0.819 | 8.36 | 155 | 1.1 |
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| pickle and unpickle the graph | ms | 0.462 | 4.87 | 90.4 | 1.1 |
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| number of components, after a change | ms | 0.03 | 0.338 | 4.09 | 1.1 |
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| number of components, unchanged | µs | 0.083 | 0.083 | 0.083 | 0.0 |
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| remove a vertex | µs | 6.19 | 11.6 | 56.5 | 0.5 |
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| closest vertex to a point | µs / query | 69.9 | 708 | 7,056 | 1.0 |
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| adjacency matrix | ms | 0.107 | 1.46 | – | 1.1 |
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| Laplacian matrix | ms | 0.121 | 2.76 | – | 1.4 |
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| incidence matrix | ms | 0.0565 | 1.44 | – | 1.4 |
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| path, breadth-first | ms / query | 0.038 | 0.317 | 5.4 | 1.1 |
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| path, uniform cost | ms / query | 0.0822 | 0.806 | 11.7 | 1.1 |
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| path, A* | ms / query | 0.0498 | 0.295 | 2.48 | 0.8 |
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| remove a vertex | µs | 6.67 | 18 | 74.2 | 0.5 |
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| closest vertex to a point | µs / query | 73.7 | 734 | 7,069 | 1.0 |
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| adjacency matrix | ms | 0.11 | 1.53 | – | 1.1 |
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| Laplacian matrix | ms | 0.122 | 2.93 | – | 1.4 |
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| incidence matrix | ms | 0.0568 | 1.37 | – | 1.4 |
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| path, breadth-first | ms / query | 0.0385 | 0.32 | 4.77 | 1.0 |
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| path, uniform cost | ms / query | 0.0848 | 0.865 | 10.4 | 1.0 |
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| path, A* | ms / query | 0.0521 | 0.306 | 2.71 | 0.9 |
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### Directed graphs
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| Operation | per | N=100 | N=1,000 | N=10,000 | growth exponent |
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| :----------------------------------- | :---------- | -----: | ------: | -------: | --------------: |
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| add a vertex | µs / vertex | 1.53 | 1.58 | 1.59 | 0.0 |
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| add an edge (cost from the metric) | µs / edge | 1.56 | 1.64 | 1.84 | 0.0 |
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| copy the graph | ms | 1.12 | 12.1 | 227 | 1.2 |
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| pickle and unpickle the graph | ms | 0.573 | 6.58 | 151 | 1.2 |
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| number of components, after a change | ms | 0.0405 | 0.485 | 5.87 | 1.1 |
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| add a vertex | µs / vertex | 0.769 | 0.797 | 0.856 | 0.0 |
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| add an edge (cost from the metric) | µs / edge | 1.55 | 1.66 | 1.7 | 0.0 |
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| copy the graph | ms | 1.14 | 12.6 | 215 | 1.1 |
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| pickle and unpickle the graph | ms | 0.586 | 6.88 | 169 | 1.2 |
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| number of components, after a change | ms | 0.0419 | 0.49 | 6.35 | 1.1 |
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| number of components, unchanged | µs | 0.083 | 0.083 | 0.083 | 0.0 |
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| remove a vertex | µs | 8.04 | 15.7 | 70 | 0.5 |
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| closest vertex to a point | µs / query | 70.2 | 711 | 6,921 | 1.0 |
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| adjacency matrix | ms | 0.0815 | 1.21 | – | 1.2 |
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| Laplacian matrix | ms | 0.0928 | 2.64 | – | 1.5 |
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| incidence matrix | ms | 0.0871 | 2.41 | – | 1.4 |
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| path, breadth-first | ms / query | 0.0225 | 0.386 | 3.87 | 1.1 |
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| path, uniform cost | ms / query | 0.0536 | 0.936 | 8.06 | 1.1 |
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| path, A* | ms / query | 0.046 | 0.721 | 3.68 | 1.0 |
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| remove a vertex | µs | 8.33 | 24 | 74.7 | 0.5 |
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| closest vertex to a point | µs / query | 69.4 | 703 | 7,242 | 1.0 |
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| adjacency matrix | ms | 0.0816 | 1.27 | – | 1.2 |
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| Laplacian matrix | ms | 0.093 | 2.81 | – | 1.5 |
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| incidence matrix | ms | 0.0885 | 2.23 | – | 1.4 |
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| path, breadth-first | ms / query | 0.0332 | 0.412 | 4.36 | 1.1 |
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| path, uniform cost | ms / query | 0.0607 | 0.944 | 8.26 | 1.1 |
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| path, A* | ms / query | 0.0487 | 0.728 | 3.57 | 0.9 |
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