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Things to do to optimize computational time.
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1. Specify relevant benchmarks with different MBS structures
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* Vehicles
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* Human bodies
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* ...
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2. Identify critical points
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* profiling
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3. Test various optimization
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* Symbolic generation optimization
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* Numerical optimization
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* take sparsity into account
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* analyse and store sparse structure
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* try specific function/libraries
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* sparse LU
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* sparse Chloesky
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* eigen (C++ headers)
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* petsC (more adapted for very large matrices) |