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An obstacle to multi-threading is the impossibility to call Robot::setAndUpdate(RobotState) concurrently from multiple threads, neither inspecting robot and joint objects.

Such core feature should be one of the first to be brought to a thread-able version.

Proposal:
a method of Robot could return a structure containing all the joint positions. That method would possibly not be thread-able, but its result could be inspected from any thread, independently from the Robot object.

std::vector<Eigen::Affine3d> Robot::computeIk(const RobotState &x);