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Performance improvement opportunities #23

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tkoolen opened this issue Aug 7, 2018 · 0 comments
Open

Performance improvement opportunities #23

tkoolen opened this issue Aug 7, 2018 · 0 comments

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@tkoolen
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tkoolen commented Aug 7, 2018

  • allow other kinds of floating joints in momentum.jl #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.
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@tkoolen