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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance #688

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

Several orders of magnitude for the distance check itself, less for optimisation problems (e.g. 3x on a recent example while converging to the same local minima)