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update to fcl 0.6 -- slower running code #579
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If you really want some help, I suggest you to be more precise. E.g. give a working example with each version and the compilation line. There are many possible reasons why this could happen, starting from compilation options. |
Previously, I was working with code that looked something like this:
Obviously, with v0.6 it is templatized to something like this:
I attempted to keep everything as float, but experienced very long computation time at runtime, so I switched to double, and it's relatively close, but runs about 3 seconds slower. Running Ubuntu 20.04, cmake compiled with GNU 9.4.0. |
Do you use CMake option Run |
I've done this, but I'm not sure I know what to look for... |
I recently had to update libraries, and went from FCL v0.5 to v0.6. As such, there was a move to a more template-oriented design, so I ended up having to explicitly type things as
float
ordouble
, (i.e. when creating afcl::OBBRSS<double>
vs how it was beforefcl::OBRSS
. I didn't think too much of it, but this has caused a significant slow down in calls tofcl::distance
.Has anyone else seen this? I also noticed in the ROS MoveIt! libraries also have some issues related to this, where function calls and/or class instantiations are running slower.
Not sure if there's a way to get the code running as fast as it was previously, but any help would be appreciated.
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