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moveit / geometric_shapes Public

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Improve performance of bodies::setPose()#126

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rhaschke merged 5 commits intomoveit:melodic-develmoveit/geometric_shapes:melodic-develfrom peci1:bodies_setpose_performancepeci1/geometric_shapes:bodies_setpose_performanceCopy head branch name to clipboard

Apr 25, 2020

+176-26

Conversation Commits5 (5)Checks Files changed

Commits

Commits on Apr 25, 2020

Improved performance of Body::setPose() by calling .linear() instead of .rotation().
peci1
committed
Improved performance of ConvexMesh::setPose() by getting rid of unnecessary dynamic memory allocation.
peci1
committed
Fixed wrong usage of AngleAxis with denormalized axes in tests.
peci1
committed
Added dirty versions of setScale/setPadding/setPose/setDimensions and made updateInternalData public.
peci1
committed
Added asserts that check bodies::Body::pose_ is an actual isometry before calling .linear() on it.
peci1
committed

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