Use Isometry3d::setIdentity instead of = Isometry3d::Identity() when …

…initializing RobotState setIdentity() is a bit faster.
Hugal31 · Dec 5, 2023 · b55507d · b55507d
1 parent 6584640
commit b55507d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -133,7 +133,7 @@ void RobotState::initTransforms()
   for (size_t i = 0, end = robot_model_->getJointModelCount() + robot_model_->getLinkModelCount() +
                            robot_model_->getLinkGeometryCount();
        i != end; ++i)
-    variable_joint_transforms_[i] = Eigen::Isometry3d::Identity();
+    variable_joint_transforms_[i].setIdentity();
 }
 
 RobotState& RobotState::operator=(const RobotState& other)