Trajopt optimizations #390
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Properly reserve SparseMatrix Before: |
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exprToEigen initialize from triplets Before, lots of time spent in coeffRef(): |
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Create SparseVector from doublets Before: |
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Awesome! This was on my todo list. |
Levi-Armstrong
approved these changes
Feb 27, 2024
Levi-Armstrong
merged commit ecd37fc
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tesseract-robotics:master
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I noticed significant inefficiencies in creating/updating constraints and costs. With some profiling using perf and hotspot I solved a number of issues leading to a nice speedup for problems with large numbers of variables.