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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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Don't re-extract body info if nothing has changed #1362

Closed rschlaikjer closed 2 months ago

rschlaikjer commented 3 months ago

Instead of unconditionally resetting BodyState in _UpdatePublishedBodies, first test whether the state has already been initialized from the given body / update stamp. If it has, skip re-extracting all data. Since bodies are in a relatively stable order, this significantly improves average-case performance.

See rb PR 2010 for performance profiles.

rdiankov commented 2 months ago

thanks~