Refactoring solvers to preallocate memory

HJReachability / ilqgames

Iterative Linear-Quadratic Games!

https://hjreachability.github.io/ilqgames/

BSD 3-Clause "New" or "Revised" License

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Refactoring solvers to preallocate memory #29

Closed dfridovi closed 4 years ago

dfridovi commented 4 years ago

Honestly this is a code optimization I should have put in long ago... but all this does is pre-allocates a bunch of memory up front in the constructors of both the LQOpenLoopSolver and LQFeedbackSolver. None of the significant stuff should change.