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Some improvements to efficiency #290

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@rhaschke rhaschke commented Oct 7, 2022

See individual commit messages for details.

... when only singular values are needed.
Actually, it might suffice to compute the determinant!
@rhaschke rhaschke force-pushed the improve-efficiency branch 2 times, most recently from 349c3c9 to 7ddaeb2 Compare October 9, 2022 16:26
Considering S as a rectangular matrix when only the diagonal elements are relevant
is vasting computing resources in matrix multiplication.
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rickstaa commented Sep 4, 2023

@rhaschke, significant improvements; I used them on my fork!

@Maverobot, could we please consider merging these changes into the develop branch? I think it would greatly benefit the Franka simulation 🚀.

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