profiler

constraints_d.py

@@ -156,6 +156,7 @@ def equality_dynamics_position(xdict, pdict, unitdict, condition):
     return np.concatenate(con, axis=None)
 
 
+@profile
 def equality_jac_dynamics_position(xdict, pdict, unitdict, condition):
     """Jacobian of equality_dynamics_position."""
 
@@ -181,7 +182,7 @@ def equality_jac_dynamics_position(xdict, pdict, unitdict, condition):
 
         submat_pos = np.zeros(
             (n * 3, (n + 1) * 3)
-        )  # jac["position"][ua*3:ub*3, xa*3:xb*3]
+        )
         submat_pos[::3, ::3] = pdict["ps_params"].D(i)
         submat_pos[1::3, 1::3] = pdict["ps_params"].D(i)
         submat_pos[2::3, 2::3] = pdict["ps_params"].D(i)
@@ -221,6 +222,7 @@ def equality_jac_dynamics_position(xdict, pdict, unitdict, condition):
     return jac
 
 
+@profile
 def equality_dynamics_velocity(xdict, pdict, unitdict, condition):
     """Equality constraint about dynamics of velocity."""
 
@@ -296,7 +298,7 @@ def equality_dynamics_velocity(xdict, pdict, unitdict, condition):
 
     return np.concatenate(con, axis=None)
 
-
+@profile
 def equality_jac_dynamics_velocity(xdict, pdict, unitdict, condition):
     """Jacobian of equality_dynamics_velocity."""
 
@@ -506,7 +508,7 @@ def dynamics(mass, pos, vel, quat, t):
 
     return jac
 
-
+@profile
 def equality_dynamics_quaternion(xdict, pdict, unitdict, condition):
     """Equality constraint about dynamics of quaternion."""
 
@@ -543,7 +545,7 @@ def equality_dynamics_quaternion(xdict, pdict, unitdict, condition):
 
     return np.concatenate(con, axis=None)
 
-
+@profile
 def equality_jac_dynamics_quaternion(xdict, pdict, unitdict, condition):
     """Jacobian of equality_dynamics_quaternion."""