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Aliasing in manif. #144
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Hi @markusgft,
I assume you mean using those on plain Eigen types since No need to say that Also, note that we are using To summarize, I'd love to get there, but currently I can't. |
Thanks for your comments and insights! |
Well, only for tangents and only partially ^^. |
Sure, only partially! Of course I base my judgement on the limited scope of my application - but within that application, the solution proposed in the other thread would resolve a great many of my issues. |
Since most of the calculus performed by solvers and optimizers is done in the tangent space (that is, all state errors, perturbations, increments, optimal steps, residuals, Jacobians, and covariances are in the tangent space), this "only" means that most of the problems are solved by letting the tangent inherit from To insist on this argument, the tangent space is THE vector space, and therefore the place where vectorial calculus is done, hence the place where Eigen shines. |
Dear all,
I am wondering whether manif should adopt the (anti) aliasing helper functions native to Eigen.
In particular, I believe that Eigens
.eval()
and.noalias()
could be relevant and attractive for manif. For instance, in my applications, this helps to greatly reduce the number of temporary expressions and therefore increases speed!The text was updated successfully, but these errors were encountered: