Implement Forward Kinematics with jax.lax.scan
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traversaro
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Sep 21, 2022
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This PR implements the Forward Kinematics algorithm with
jax.lax.scan(#12), with two main benefits:Here below a summary of the new FK performance compared to the previous implementation:
pandaiCubGazeboV2_5The JIT time is now much lower than before. Instead, the runtime didn't change noticeably.