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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
640 stars 155 forks source link

Reduce Memory Footprint of Trajectory Class #82

Closed pantor closed 2 years ago

pantor commented 2 years ago

@Fubini2

Just a small heads-up. I've now separated the trajectory and calculator class, reducing the memory of the trajectory class to around 25%.

v0.4.0: sizeof(Trajectory<3>) = 6680 Master Branch: sizeof(Trajectory<3>) = 1640