Remove context creation from DIRCON constraints

DAIRLab / dairlib

MIT License

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Remove context creation from DIRCON constraints #147

Closed mposa closed 4 years ago

mposa commented 4 years ago

DirconDynamicConstraint was creating a new MultibodyPlant context inside the evaluation loop. On the Cassie squatting test, this was ~15% of total runtime. Removed this to make use of a single context.

Also added a helper function (setContext) to support this.l