Validate link, frame, and joint indices in our jit-compiled APIs #182
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Co-authored-by: Filippo Luca Ferretti <[email protected]>
Not really, the modified methods are not called a lot. I don't expect any runtime overhead since the extra branch injected for raising the exception is never called, and the only overhead is a boolean comparison that has almost no cost. Inspecting the time taken by CI, there's no significant change. It takes 15-20 seconds more on average but this is also because this PR introduces a new test. |
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In any case, if we face any overhead in the future that we want to get rid of, we can introduce a new environment variable that disables raising exceptions within jit-compiled function. It should be straightforward. |
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Implements the jit-compatible exceptions of #181 to stop the execution of jit-compiled methods when the integer indices of links, frames, and joints are not valid.
馃摎 Documentation preview 馃摎: https://jaxsim--182.org.readthedocs.build//182/