Dehann Fourie
Dehann Fourie
Oh, and on Julia -- yes, we are pretty excited about JuliaRobotics. Keep in touch and let us know your interests. There are around five or six of us in...
These all are likely influenced by JuliaRobotics/DistributedFactorGraphs.jl#95
FYI @GearsAD Bigger discussion is how is computational fg vs unpredictable parameter configs are managed for storing a factor graph object which may be recomputed later. Sensor physical or electronic...
will also impact #187
will be impacted by #143
Yeah, i suspect caching in the residual and `getSample` functions will help with the allocations problem. Next step in that story is the `preambleCache` for `CalcFactor.cache`. Link to docs: -...
Jip, flame graph is cool. The way i read it, is that the hot-loop calling of `Manifolds.exp` is allocating `Array` many times. So my guess would be to allocate once...
I still want to figure out on this if we cannot just move the `preambleCache` step in the solve code sooner so that parametric solve CAN have the type information....
Ah, perhaps i can ask this way round: Where is the first line of code in a parametric solve where AD is called? I'll go look from there in IIF...