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Improve sparseJacobianEigen() #682

Merged
merged 16 commits into from
Jan 28, 2021
Merged

Improve sparseJacobianEigen() #682

merged 16 commits into from
Jan 28, 2021

Commits on Jan 19, 2021

  1. timing sparse eigen

    @gchenfc
    gchenfc committed Jan 19, 2021
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  2. minor efficiency modifications

    @gchenfc
    gchenfc committed Jan 19, 2021
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  3. add generic optional parameters to sparseJacobian 

    Also, the unit test changed due to a 0 entry that was previously wrongly
included in the b-column of the sparse representation.
    @gchenfc
    gchenfc committed Jan 19, 2021
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Commits on Jan 20, 2021

  1. more generic sparseJacobianInPlace function

    @gchenfc
    gchenfc committed Jan 20, 2021
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  2. eliminate copy/pasta from SparseEigen with generic version of sparseJ… 

    …acobian
    @gchenfc
    gchenfc committed Jan 20, 2021
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  3. populate sparse matrix with insert rather than setFromTriplets 

    About 5% speed improvement.
    @gchenfc
    gchenfc committed Jan 20, 2021
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  4. move SparseMatrixBoostTriplets typedef to gfg

    @gchenfc
    gchenfc committed Jan 20, 2021
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  5. remove templating while maintaining efficiency 

    Templating still used in cpp file for generic-ness, but not exposed
anymore

std::tuple has the same performance as Eigen::Triplet, but boost::tuple
is slower.  Sparse matrix indices are int instead of size_t for
efficiency (e.g. A(i, j) = s  ->  i/j are int's instead of size_t's)
    @gchenfc
    gchenfc committed Jan 20, 2021
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  6. revert Matrix.h

    @gchenfc
    gchenfc committed Jan 20, 2021
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  7. formatting

    @gchenfc
    gchenfc committed Jan 20, 2021
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Commits on Jan 27, 2021

  1. remove unnecessary function overloads and typedefs

    @gchenfc
    gchenfc committed Jan 27, 2021
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  2. remove InPlace jacobian from .h file

    @gchenfc
    gchenfc committed Jan 27, 2021
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  3. fix comment and remove whitespace diff

    @gchenfc
    gchenfc committed Jan 27, 2021
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  4. disambiguate double template >>

    @gchenfc
    gchenfc committed Jan 27, 2021
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  5. replace sparseJacobian with "fast" version

    @gchenfc
    gchenfc committed Jan 27, 2021
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  6. auto and reserve fewer

    @gchenfc
    gchenfc committed Jan 27, 2021
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