refactor: optimize forward kinematics compilation in BaseSolver#275
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lookangela wants to merge 1 commit into
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refactor: optimize forward kinematics compilation in BaseSolver#275lookangela wants to merge 1 commit into
lookangela wants to merge 1 commit into
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This pull request updates the forward kinematics (FK) computation in the base solver to improve efficiency and correctness. The main changes involve how the FK function is compiled and how its output is handled in the
get_fkmethod.Forward Kinematics Improvements:
_fk_end_matrix) that returns only the end-effector transformation matrix, streamlining FK computation.get_fkmethod to use the new FK output directly, removing the unnecessary indexing step since the compiled function now returns only the end-effector pose.