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Fasten access for end-coords and root-link by not using assoc searching #342

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merged 1 commit into from Feb 26, 2016

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commented Feb 26, 2016

Accessors of :end-coords and :root-link are currently implemented by assoc searching.
In IK codes, these methods are frequently called and assoc slowness becomes problem in my IK codes.

I improve these methods using faster accessing by adding accessor methods.

Testing codes

(progn                                                                                                                                    
(load "irteus/demo/sample-robot-model.l")                                                                                                                                 
(setq *robot* (instance sample-robot :init))                                                                                                                              
(bench2 (dotimes (i 10000) (send *robot* :rarm :end-coords)))                                                                                                             
)

Old code => 0.207327[s]
New code => 0.021465[s]
New code is 10 times faster.

snozawa added a commit that referenced this pull request Feb 26, 2016

Merge pull request #342 from snozawa/fasten_ee_access
Fasten access for end-coords and root-link by not using assoc searching

@snozawa snozawa merged commit 7f129ee into euslisp:master Feb 26, 2016

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@snozawa snozawa deleted the snozawa:fasten_ee_access branch Feb 26, 2016

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