Currently, the constraint projection solver uses Eigen::VectorXd and Eigen::MatrixXd inside its loop. Unfortunately, their instantiation seems to be prohibitively slow in this case because they are dynamically allocated on the heap rather than on the stack. This issue needs to be solved for real-time use.
Currently, the constraint projection solver uses
Eigen::VectorXdandEigen::MatrixXdinside its loop. Unfortunately, their instantiation seems to be prohibitively slow in this case because they are dynamically allocated on the heap rather than on the stack. This issue needs to be solved for real-time use.