crocoddyl
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selfadjointView may be a bottle neck
https://github.com/loco-3d/crocoddyl/blob/d59b9be9f6c3f90b07dda12e5c14d8889cdc2214/src/multibody/actions/impulse-fwddyn.cpp#L122
From my knowledge of Eigen, selfadjointView
may lead to slow computations. It may be better to fill the entire mass matrix M and then performing the dense computations.
Thanks for the feedback. I will benchmark it asap!
@proyan you might want to handle this issue.
@jcarpent --- could I ask you (in your experience) when we should use selfadjointview
(i.e., with which matrix dimension)?
As described here (https://stackoverflow.com/questions/39606224/does-eigen-have-self-transpose-multiply-optimization-like-h-transposeh), selfadjointview
is not useful for small matrices. But it is not clear (in this post) what matrix dimensions are considered small