Implement Jacobian with jax.lax.scan
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diegoferigo
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traversaro
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Sep 21, 2022
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This PR implements the doubly-left Jacobian algorithm with
jax.lax.scan(#12), with two main benefits:Doubly-left Jacobian Algorithm
Here below a summary of the new Jacobian performance compared to the previous implementation, referring to the computation of the jacobian of the link with
index = high_level_model.nr_of_links() - 1.pandaiCubGazeboV2_5The JIT time is now much lower than before. Instead, the runtime didn't change noticeably.