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Simple-Robotics / aligator

A versatile and efficient framework for constrained trajectory optimization
https://simple-robotics.github.io/aligator/
BSD 2-Clause "Simplified" License
85 stars 11 forks source link

Profiling #120

Closed ManifoldFR closed 1 month ago

ManifoldFR commented 5 months ago

I have discussed this with @jorisv and @fabinsch a bit.

The idea is that we can use a more advanced code profiler such as tracy (which requires instrumenting the code) to better assess performance bottlenecks in some critical (sub-millisecond) pieces of code with high accuracy.

ManifoldFR commented 3 months ago

We now have a repo of tracy with our own patches: https://github.com/Simple-Robotics/tracy/tree/patches Currently trying it out internally