Opt5 #89
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Opt5 #89
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Removes
is_path_longer_than_trajectorylogic since it doesn't seem to impact run time with the already reduced path (but does alot of "work" with cumsum and powers that we want to avoid for jitter), removes some sqrt operations within the inner most loop, allocates memory outside of the loop.Overall, shaves about 0.5ms off of the critic. Its not huge, but its something based on the changes trying to make a bigger dent.
Its not a huge impact on any particular problem, but it definitely won't hurt either