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.
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![ikfast_plugin](https://cloud.githubusercontent.com/assets/4960180/14720596/d4b052f8-07c7-11e6-8d96-00ae29d58f68.png)
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.All of this for: