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symforce-org / symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics
https://symforce.org
Apache License 2.0
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Consider kMaxKeys in factor and arrays instead of vectors in factor + linearization types #103

Open aaron-skydio opened 2 years ago

aaron-skydio commented 2 years ago

would be purely for performance reasons (in particular avoiding pointer chasing in linearization.cc like from jacobian_storage_col_starts

Note: Abseil also has InlinedVector so we wouldn't need a strict bound