It's actually not as simple as that. The iPad is lying when it says "Not charging" when it's connected to a PC's USB port. It is charging, but very slowly. Eg, this morning my iPad was on 92% charge. I've had it connected to my PC all afternoon, and now it's fully charged, despite saying "not charging" all that time. If you put the iPad in sleep mode, and leave it connected to USB, it'll charge significantly faster.
As you say, though, if you want a fast charge, use the wall charger.
Look at it this way: the iPad is very much a "cousin" to a netbook or a tablet PC. None of those will charge at all via USB. Be thankful for small mercies!
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