Changes for TORA v0.2.0
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Thanks to @MasonProtter for the help with StaticArrays.jl. ```julia function f(x, state, result) set_configuration!(state, x) set_velocity!(state, x) dynamics!(result, state, x) end x = @svector rand(robot.n_τ) # 2.531 μs (0 allocations: 0 bytes) @Btime $f($x, $robot.statecache[Float64], $robot.dynamicsresultcache[Float64]) dx = @mVector zeros(robot.n_q + robot.n_v) x = @svector rand(2*robot.n_q + 2*robot.n_v + robot.n_τ) h = 0.001 # Current: 2.642 μs (0 allocations: 0 bytes) # Previous: 3.188 μs (12 allocations: 1.83 KiB) @Btime TORA.forward_dynamics_defects!($dx, $robot, $x, $h) ```
`Array{T}` is not a concrete type; replacing them with `Vector{T}`. Could also have used `Array{T,1}`.
``` Before: 2.120 μs (26 allocations: 4.80 KiB) After: 1.110 μs ( 0 allocations: 0 bytes) ```
git-subtree-dir: kinova-ros git-subtree-split: 38293ed73bc230e9ca7e7312fc268736821fd9cc
Replacing `Array{Float64,1}` and `Array{Float64,2}` with their aliases, i.e., `Vector{Float64}` and `Matrix{Float64}`, respectively.
…`ros_kortex` These shall be added as Julia [Artifacts](https://pkgdocs.julialang.org/v1/artifacts/) in the next commit
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AFAICT, this includes no breaking changes.