Don't allocate a new result buffer every time

CLeARoboticsLab · Dec 16, 2024 · bdcb3b3 · bdcb3b3
1 parent 608800b
commit bdcb3b3
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/AutoDiff.jl b/src/AutoDiff.jl
@@ -25,13 +25,13 @@ function _solve_jacobian_θ(mcp::MixedComplementarityProblems.PrimalDualMCP, sol
     (; x, y, s, ϵ) = solution
 
     ∇F_z = let
-        ∇F = SymbolicTracingUtils.get_result_buffer(mcp.∇F_z!)
+        ∇F = mcp.∇F_z!.result_buffer
         mcp.∇F_z!(∇F, x, y, s; θ, ϵ)
         ∇F
     end
 
     ∇F_θ = let
-        ∇F = SymbolicTracingUtils.get_result_buffer(mcp.∇F_θ!)
+        ∇F = mcp.∇F_θ!.result_buffer
         mcp.∇F_θ!(∇F, x, y, s; θ, ϵ)
         ∇F
     end

diff --git a/src/solver.jl b/src/solver.jl
@@ -27,7 +27,7 @@ function solve(
     max_outer_iters = 50,
 )
     # Set up common memory.
-    ∇F = SymbolicTracingUtils.get_result_buffer(mcp.∇F_z!)
+    ∇F = mcp.∇F_z!.result_buffer
     F = zeros(mcp.unconstrained_dimension + 2mcp.constrained_dimension)
     δz = zeros(mcp.unconstrained_dimension + 2mcp.constrained_dimension)
     δx = @view δz[1:(mcp.unconstrained_dimension)]