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Curve: BSpline Accelerations

Philipp Seiwald requested to merge bspline_accelerations into dev-v2

Improved runtime performance for QuaternionBSpline (Curve/Spline/Trajectory) (avoids dynamic memory allocation whenever possible).

New Features

  • [curve]:
    • Refactored BSplineBasis, BSplineBasisSample, CumulativeBSplineBasisSample and QuaternionBSplineCurve to make use of SmartVector (to avoid dynamic memory allocation while still implementing the most general case)

Breaking Changes

  • [math]:
    • Computation of multinomialCoefficient now takes a SmartVector as input to avoids dynamic memory allocation

Merge request reports

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