symforce
wyvern
| symforce | wyvern | |
|---|---|---|
| 15 | 2 | |
| 1,347 | 54 | |
| 1.0% | - | |
| 8.9 | 3.5 | |
| 11 days ago | 7 months ago | |
| C++ | C++ | |
| Apache License 2.0 | GNU General Public License v3.0 only |
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symforce
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SymPy: Symbolic Mathematics in Python
You might find this library interesting: https://github.com/symforce-org/symforce
- SymForce is a fast symbolic computation and code generation library for robotics
- Fast Symbolic Computation for Robotics
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Literature request: Lie groups and algebra
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
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Jacobian Matrix possible on arduino?
It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.
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What optimization libraries are you using?
I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM
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Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
Continue reading | Checkout the paper and github
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
wyvern
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Lazy Let: A Cheap Way and Easy Way to Add Lazyness
We have implemented automatic "lazification" of function arguments at the level of the LLVM IR. We released the code last year.
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Lazification of Function Arguments
For those interested, the code is here: https://github.com/lac-dcc/wyvern
What are some alternatives?
casadi - CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
regal86 - Register Allocator for 8086
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
jank - A Clojure dialect hosted on LLVM with native C++ interop
Colosseum - Open source simulator for autonomous robotics built on Unreal Engine with support for Unity
rangeless - c++ LINQ -like library of higher-order functions for data manipulation
ANMS-Codes - Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
PochiVM - Lightweight framework for easy and efficient code generation
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
faust - Functional programming language for signal processing and sound synthesis