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selfadjointView may be a bottle neck #638
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Thanks for the feedback. I will benchmark it asap! |
@proyan you might want to handle this issue. |
@jcarpent --- could I ask you (in your experience) when we should use As described here (https://stackoverflow.com/questions/39606224/does-eigen-have-self-transpose-multiply-optimization-like-h-transposeh), |
crocoddyl/src/multibody/actions/impulse-fwddyn.cpp
Line 122 in d59b9be
From my knowledge of Eigen,
selfadjointView
may lead to slow computations. It may be better to fill the entire mass matrix M and then performing the dense computations.The text was updated successfully, but these errors were encountered: