Make utils functions input as const ref

robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

https://robomechanics.github.io/quad-sdk/

MIT License

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Make utils functions input as const ref #401

Closed jcnorby closed 10 months ago

jcnorby commented 11 months ago

Addresses #212 (finally) by adding const ref arguments to most utility functions in math_utils, ros_utils, and QuadKD. Not a huge effect on overall performance (interpRobotState takes about 1us instead of 5us), but nice to have. May help other controllers that require more kinematics queries.

ardalantj commented 11 months ago

FYI @jcnorby we are making changes to the pipeline so waiting on that before we could merge. Otherwise, looks good.