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Real-time capability of the library #77

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MaximilienNaveau opened this issue Apr 12, 2022 · 1 comment
Open

Real-time capability of the library #77

MaximilienNaveau opened this issue Apr 12, 2022 · 1 comment

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@MaximilienNaveau
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After discussion between @stonneau and @olivier-stasse we decided that this library would be even more interesting with a memory management that allow us to modify curves in real-time.

For now all curves are created via constructor which therefore imply memory allocation.
I would be better to create the objects with their memory an have a solve/compute function which update the internals.

@stonneau Told us he tried at some point but failed (probably due to the heavy templating system of the library).

@stonneau
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I did not try and failed :D. Initially this was not the intent of the library (we wanted everything to be const because the original use had nothing to do with robotics actually). I don't see a real issue with implementing these changes

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