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verified publisher icon tkoolen

Performance improvement opportunities

Open tkoolen opened this issue 7 years ago • 0 comments

  • #21 made the standing controller a little bit slower. Could special-case QuaternionFloating (skip premultiplying the constraint by the full-rank matrix S^T).
  • improve handling of sum of many terms in SimpleQP for wrench balance constraint
  • don't call modifyconstraint! for Constraints that have a fixed LazyExpression in SimpleQP.

tkoolen avatar Aug 07 '18 20:08 tkoolen