perf: use eigen affine transform to achieve 3x fk#72
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HiroIshida wants to merge 13 commits intomasterfrom
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perf: use eigen affine transform to achieve 3x fk#72HiroIshida wants to merge 13 commits intomasterfrom
HiroIshida wants to merge 13 commits intomasterfrom
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Find that eigen's affine transformation is 3x faster than urdf::Pose
2x faster than custom {Eigen::Vector3, Eigen::Quaterniond}
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Found that FK benefit from this, but jacobian computation does not