From 3f4098a79fad6e4133aaa69599ccf68c6aac3946 Mon Sep 17 00:00:00 2001
From: VyasGuru <71374747+VyasGuru@users.noreply.github.com>
Date: Wed, 28 Jan 2026 09:28:43 +0530
Subject: [PATCH] Optimised point

---
 include/cartesian_geom/point.h | 28 +++++++++++++++++++---------
 1 file changed, 19 insertions(+), 9 deletions(-)

diff --git a/include/cartesian_geom/point.h b/include/cartesian_geom/point.h
index b8c8e32b4..53fe5e04a 100644
--- a/include/cartesian_geom/point.h
+++ b/include/cartesian_geom/point.h
@@ -112,14 +112,29 @@ class point
         return coeffs.sum();
     }
 
+    template<typename T>
+    void operator+= (const T& other)
+    {
+        if (other.rows() == 1 && other.cols() == d && d > 1) {
+            this->coeffs += other.transpose();
+        } else {
+            this->coeffs += other;
+        }
+    }
+    
     void operator+= (const point& p)
     {
         coeffs += p.getCoefficients();
     }
-
-    void operator+= (const Coeff& coeffs)
+    
+    template<typename T>
+    void operator-= (const T& other)
     {
-        this->coeffs += coeffs;
+        if (other.rows() == 1 && other.cols() == d && d > 1) {
+            this->coeffs -= other.transpose();
+        } else {
+            this->coeffs -= other;
+        }
     }
 
     void operator-= (const point& p)
@@ -127,10 +142,6 @@ class point
         coeffs -= p.getCoefficients();
     }
 
-    void operator-= (const Coeff& coeffs)
-    {
-        this->coeffs -= coeffs;
-    }
 
     void operator= (const Coeff& coeffs)
     {
@@ -205,8 +216,7 @@ class point
     }
 
     FT squared_length() const {
-        FT lsq = length();
-        return lsq * lsq;
+        return coeffs.squaredNorm();
     }
 
     FT length() const {