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Improve allocation behavior in NUTS #3414

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@WardBrian

As discussed on the forums, @sims1253 found several ways to remove short-lived repeated allocations in our NUTS code, see sims1253#1

This is consistent with observations that @bob-carpenter and I have made in walnutpie, where it appears to outperform Stan even when using settings designed to make it as similar as possible to Stan's implementation of NUTS. We suspected memory allocations, which walnutpie is quite careful with, to be one possible source

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