Various fixes #5
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Some refactoring to reduce memory allocation and usage of makeCompressed. Avoiding to use viewTriangular for saprse matrices, since it does not seem to be documented.
It was necessary to change the way we retrieve triplets from eigen matrices in order to avoid templates when defining the vector of triplets.
This was referenced Jun 8, 2018
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This was successfully tested with https://github.com/loc2/element_capture-point-walking. |
GiulioRomualdi
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Apr 15, 2019
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The aim was to reduce the usage of Eigen methods like
makeCompressedand the usage of dynamic memory allocation.Solved a couple of bugs in the process (wrong updates of matrices, memory leaks in destructor).