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symforce-org / symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics
https://symforce.org
Apache License 2.0
1.44k stars 147 forks source link

Count linearized factors then allocate #255

Closed aaron-skydio closed 2 years ago

aaron-skydio commented 2 years ago

Instead of just emplacing into the vector, which resizes a bunch of times