perf(retargeting): reuse kinematics and Laplacian calculations - #208
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Reduce repeated kinematics and interaction-mesh calculations during retargeting.
Forward kinematics and the velocity-coordinate transform were recomputed for individual links and contact points even when the robot pose was unchanged. They are now evaluated once for each group of calculations at the same pose. Previous-frame foot positions are also reused across solver iterations instead of recomputing them together with unused Jacobians.
The uniform Laplacian matrix and its Kronecker product are reused while the ordered graph connectivity is unchanged. Skip unnecessary neighbour-distance calculations when using uniform weights, and avoid computing Jacobians for the fixed world body, which cannot move with the robot.
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