[gym_jiminy/common] Inline 'InterfaceQuantity.refresh' if possible fo…

…r efficiency.

python/gym_jiminy/common/gym_jiminy/common/quantities/generic.py

@@ -507,8 +507,12 @@ def initialize(self) -> None:
             self.data.reset(reset_tracking=True)
 
     def refresh(self) -> np.ndarray:
-        value = self.data.get()
-        return value[self.frame_name]
+        # Return a slice of batched data.
+        # Note that mapping from frame names to frame index in batched data
+        # cannot be pre-computed as it may changed dynamically.
+        # Note that avoiding defining a temporary variable to store the current
+        # value of the quantity slightly improves performance.
+        return self.data.get()[self.frame_name]
 
 
 @dataclass(unsafe_hash=True)
@@ -588,11 +592,7 @@ def initialize(self) -> None:
             self.data.reset(reset_tracking=True)
 
     def refresh(self) -> np.ndarray:
-        # Return a slice of batched data.
-        # Note that mapping from frame names to frame index in batched data
-        # cannot be pre-computed as it may changed dynamically.
-        value = self.data.get()
-        return value[self.frame_names]
+        return self.data.get()[self.frame_names]
 
 
 @dataclass(unsafe_hash=True)
@@ -742,8 +742,7 @@ def initialize(self) -> None:
             self.data.reset(reset_tracking=True)
 
     def refresh(self) -> np.ndarray:
-        value = self.data.get()
-        return value[self.frame_name]
+        return self.data.get()[self.frame_name]
 
 
 @dataclass(unsafe_hash=True)
@@ -806,8 +805,7 @@ def initialize(self) -> None:
             self.data.reset(reset_tracking=True)
 
     def refresh(self) -> np.ndarray:
-        value = self.data.get()
-        return value[self.frame_names]
+        return self.data.get()[self.frame_names]
 
 
 @dataclass(unsafe_hash=True)
@@ -1807,6 +1805,9 @@ def __init__(
                         compute_power, int(self.generator_mode))))),
             auto_refresh=False)
 
+        # Enable direct forwarding (inlining) for efficiency
+        self.__dict__["refresh"] = self.data.get
+
     def refresh(self) -> float:
         return self.data.get()
 

python/gym_jiminy/common/gym_jiminy/common/quantities/locomotion.py

@@ -333,6 +333,9 @@ def __init__(self,
                     keys=(0, 1, 5)))),
             auto_refresh=False)
 
+        # Enable direct forwarding (inlining) for efficiency
+        self.__dict__["refresh"] = self.data.get
+
     def refresh(self) -> np.ndarray:
         return self.data.get()
 
@@ -468,6 +471,9 @@ def __init__(self,
                     mode=mode))),
             auto_refresh=False)
 
+        # Enable direct forwarding (inlining) for efficiency
+        self.__dict__["refresh"] = self.data.get
+
     def refresh(self) -> np.ndarray:
         return self.data.get()
 
@@ -666,6 +672,9 @@ def __init__(self,
                 data=position_vector),
             auto_refresh=False)
 
+        # Enable direct forwarding (inlining) for efficiency
+        self.__dict__["refresh"] = self.data.get
+
     def refresh(self) -> np.ndarray:
         return self.data.get()
 
@@ -1623,6 +1632,9 @@ def __init__(self,
                     bounds_only=True))),
             auto_refresh=False)
 
+        # Enable direct forwarding (inlining) for efficiency
+        self.__dict__["refresh"] = self.data.get
+
     def refresh(self) -> ArrayOrScalar:
         return self.data.get()
 
@@ -1685,5 +1697,8 @@ def __init__(self,
                     bounds_only=False))),
             auto_refresh=False)
 
+        # Enable direct forwarding (inlining) for efficiency
+        self.__dict__["refresh"] = self.data.get
+
     def refresh(self) -> ArrayOrScalar:
         return self.data.get()