The latest version of the openrave ikfast algorithm is very slow in computing the inverse kinematic solution

[ZSorcerer]

I tested it with openrave 0.9, the Ikfast only needed 5-7 microseconds to solve for an inverse kinematic solution.

However, when I tested with the latest version of openrave 1.30, ikfast took 140-150 microseconds to calculate the inverse kinematic solution. I have tested this on many operating systems and on many types of processors, and the results are roughly the same. Why has the speed of the new algorithm decreased so much? @rdiankov @tgn3000 @cielavenir