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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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The latest version of the openrave ikfast algorithm is very slow in computing the inverse kinematic solution #1335

Open ZSorcerer opened 10 months ago

ZSorcerer commented 10 months ago

I tested it with openrave 0.9, the Ikfast only needed 5-7 microseconds to solve for an inverse kinematic solution.

However, when I tested with the latest version of openrave 1.30, ikfast took 140-150 microseconds to calculate the inverse kinematic solution. I have tested this on many operating systems and on many types of processors, and the results are roughly the same. Why has the speed of the new algorithm decreased so much? @rdiankov @tgn3000 @cielavenir