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ethz-asl / curves

A library of curves for estimation.
BSD 3-Clause "New" or "Revised" License
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An interface update to better interface GTSAM #31

Closed furgalep closed 9 years ago

furgalep commented 9 years ago

This pull addresses our discussion today on how to better interface GTSAM.

  1. Removed any caching from the evaluators. Made them pure functional. TODO: Create caching evaluators when we need them as a separate class.
  2. The Coefficients class can wrap the gtsam Values class to avoid any copying when calling evaluate()
  3. Added a new functions, evaluate(), and void getJacobians() for interfacing GTSAM. These take the Coefficients class instead of a vector of coefficients.
furgalep commented 9 years ago

@rdube @gawela Please review. This will break your stuff in the other repo.

@sanderson77 @mikebosse Comments?

mikebosse commented 9 years ago

instead of using a map of coefficients, would it make any sense to use a vector of smart pointers to coefficients? then we wouldn't be copying the values of the coefficient too much, and we wouldn't have the overheads of a map.

mikebosse commented 9 years ago

lgtm