Skip to content

[core] Simulation speedup (again!)
Compare
Choose a tag to compare
@duburcqa duburcqa released this 01 Feb 20:28
· 138 commits to master since this release
1.5.6
80087fb
This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
GPG key ID: 4AEE18F83AFDEB23
Expired
Learn about vigilant mode.

Simulation speed has been increased by at least 15%, mainly avoiding memory allocation during simulation, postponing accelerations and forces updates until successful stepper step, and not computing all terms for internal stepper steps.

  • [core] Avoid algebraic loop in internal stepper steps by postponing accel/force updates after successful outer step.
  • [core] Move centroidal kinematics computations in stepper outer loop for efficiency.
  • [core] Assume slow variation of subtree inertia during one integration step for efficiency.
  • [core] Avoid memory allocation for 'computeAcceleration', 'updateTelemetry' and 'computeAllEffort'.
  • [misc] Fix double_pendulum c++ example using Eigen::Ref for controller handles instead of vectorN_t.
Assets 2
Loading