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Refactor utility functions for efficiency #212

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jcnorby opened this issue Feb 27, 2022 · 1 comment
Open

Refactor utility functions for efficiency #212

jcnorby opened this issue Feb 27, 2022 · 1 comment
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jcnorby commented Feb 27, 2022

Many of the utility functions defined in ros_utils, math_utils, and quad_kd pass inputs by value rather than const reference. Switching these should help efficiency across the board (particularly when mapping between data structures or computing FK/IK across trajectories).
@jcnorby jcnorby added the enhancement New feature or request label Feb 27, 2022
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jcnorby commented Feb 27, 2022

Also any functions which can be defined as const should be.

@jcnorby jcnorby mentioned this issue Sep 17, 2023
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