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artofnothingness / mppic

MIT License
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F/optimize floats and tensors #83

Closed artofnothingness closed 2 years ago

SteveMacenski commented 2 years ago

I'll do a deep dive tomorrow on this - do you notice this helps with the jitter and/or performance?

artofnothingness commented 2 years ago

I'll do a deep dive tomorrow on this - do you notice this helps with the jitter and/or performance?

looks like it. old benchmarks became 3 times faster 2.2 ms vs 0.7 ms

SteveMacenski commented 2 years ago

Heck yeah! :smile:

artofnothingness commented 2 years ago

@SteveMacenski i clipped velocities and not controls )