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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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The new BasicTrustRegionSQPMultiThreaded does not outperform BasicTrustRegionSQP #334

Open Levi-Armstrong opened 1 year ago

Levi-Armstrong commented 1 year ago

The multi threaded version does use more memory which is expected with the use of thread local but the number of allocations look similar. I think further investigation is needed.

BasicTrustRegionSQP: image

BasicTrustRegionSQPMultiThreaded: image