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moveit / moveit_ikfast

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Use of StringStream in new "GetAllIK" Function #58

Open Jmeyer1292 opened 8 years ago

Jmeyer1292 commented 8 years ago

So I've been building the software on the Descartes side necessary to interface with the changes in #57 and it's Jade equivalent.

One of the debug statements is built from a std::stringstream, and in an optimized build of a workspace, running on a representative problem, this stringstream is eating more than 60% of the runtime involved with the IK calls. ikfast_plugin

All of this for:

ROS_DEBUG_NAMED("ikfast","Sol %d: %s", s, ss.str().c_str());
davetcoleman commented 8 years ago

woa, good find!!

gavanderhoorn commented 8 years ago

Keeping this open until fe8e790 is cherry-picked into indigo-devel as well.