Real Time Smoothing and Mapping (RTSAM) in Rust.
- Standard Lie algebra in Rust
- Working simple factor graph generation
- Working LLVM-based JIT for CPU/GPU targets (WIP branch
dev-jit) - Working symbolic evaluation and autograd
- Design a continous storage strategy for factors
- Dynamic scheduling of JIT'ed code fragments
- GPU LM/GS Kernels with JIT'ed lazy evaluation
This work is a WIP.
BSD 3-Clause
Copyright (c) 2020, Fan Jiang
Code from the nalgebra project: Copyright (c) 2013, Sébastien Crozet