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Improve compilation time of RBDAs for models with many DoFs #153

Merged
merged 6 commits into from
May 15, 2024
Merged

Improve compilation time of RBDAs for models with many DoFs #153

merged 6 commits into from
May 15, 2024

Commits on May 15, 2024

  1. Avoid the use of enum in Joint* classes 

    Deprecate `JointDescriptor`, introduce new `JointType`, separate
`JointType` from `JointGenericAxis`
    @flferretti
    flferretti committed May 15, 2024
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  2. Simplify finding joint names from idx

    @flferretti
    flferretti committed May 15, 2024
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  3. Compute pre_H_suc and S using vmap

    @flferretti
    flferretti committed May 15, 2024
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  4. Handle joint computation for jointless models 

    Co-authored-by: Diego Ferigo <[email protected]>
    @flferretti @diegoferigo
    flferretti and diegoferigo committed May 15, 2024
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  5. Address review 

    - Use explicit joint type names
- Use `jnp.newaxis` instead of `None`
- Use dataclass for `JointType` instead of metaclass

Co-authored-by: Diego Ferigo <[email protected]>
    @flferretti @diegoferigo
    flferretti and diegoferigo committed May 15, 2024
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  6. Allow positional-only arg supported_joint_motion 

    Co-authored-by: Diego Ferigo <[email protected]>
    @flferretti @diegoferigo
    flferretti and diegoferigo committed May 15, 2024
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