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Published 20 hours ago • verified publisher icon artivis

CppAD support

Open artivis opened this issue 4 years ago • 1 comments

It might be beneficial to revive CppAD integration in manif and make sure (tests) that it works fine.

artivis avatar Jun 09 '20 13:06 artivis

Following https://github.com/artivis/manif/issues/132#issuecomment-640804379.

I'm not a CppAD power user so take the following with a grain of salt...

Some functions in manif have a conditional branching (good old if statement) that breaks CppAD differentiation tape. Special care has to be taken for these if when using the library. I did so following the online tutorial but never got to actually test it and make sure I was handling the issue properly.
It would be handy to have some CppAD expert eyes here.

artivis avatar Jun 09 '20 13:06 artivis