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Cache DC factor indices for fast updates in solver #13

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keevindoherty opened this issue Oct 23, 2021 · 1 comment
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Cache DC factor indices for fast updates in solver #13

keevindoherty opened this issue Oct 23, 2021 · 1 comment
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enhancement New feature or request

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Current (naive) update implementation requires ~O(M) measurement updates. Simply caching the indices of DCFactors within the discrete/continuous graphs (or iSAM2 in the latter case) will be a huge performance boost; more like ~O(K), K << M, where K is the number of DCFactors only (vs. M total factors).
@keevindoherty keevindoherty added the enhancement New feature or request label Oct 23, 2021
@keevindoherty keevindoherty self-assigned this Oct 23, 2021
@keevindoherty keevindoherty changed the title Cache DCFactorIndices for fast updates in solver Cache DC factor indices for fast updates in solver Oct 23, 2021
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Resolved by f5cde4f

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