[ad] Store (scaled) unit vectors inline#23933
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jwnimmer-tri wants to merge 3 commits intoRobotLocomotion:masterfrom
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[ad] Store (scaled) unit vectors inline#23933jwnimmer-tri wants to merge 3 commits intoRobotLocomotion:masterfrom
jwnimmer-tri wants to merge 3 commits intoRobotLocomotion:masterfrom
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This introduces sparsity to the autodiff partials storage. If only one partial is non-zero, we can avoid using the heap.
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This introduces sparsity to the autodiff partials storage. If only one partial is non-zero, we can avoid using the heap.
Towards #17492.
Edit: This is on the back burner for now. From profiling, it looks like we should land some of the other optimizations first (at minimum, the move-specialization of matmul).
This change is