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v0.2.0 #30

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merged 79 commits into from
Jan 14, 2025
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09b4122
Remove all const from Residual trait
contagon Nov 12, 2024
07d8a09
Add proc macro for deriving residuals
contagon Nov 13, 2024
4a85d9c
Remove all unwrap calls
contagon Nov 13, 2024
a4134ca
Add fac! macro for factor construction
contagon Nov 16, 2024
cbb7296
Remove ResidualSafe trait
contagon Nov 16, 2024
7e5808f
Remove internal hack
contagon Nov 16, 2024
16c4bd8
Rename traits, add in all proc macros
contagon Nov 23, 2024
250eb0f
Verify compilation w/o serde feature
contagon Nov 23, 2024
94cff3b
Begin adding tests for new setup
contagon Nov 23, 2024
91dbc1a
Add more tests, clean up some bugs
contagon Nov 24, 2024
b756642
Rename tag -> mark
contagon Dec 6, 2024
6402dd7
Remove TODO from noise model file
contagon Dec 6, 2024
70459b2
Merge pull request #18 from rpl-cmu/easton/clean-traits
contagon Dec 6, 2024
58bf83d
Merge branch 'dev' into easton/fac
contagon Dec 6, 2024
661e1c8
Fix some typos
contagon Dec 6, 2024
3bbc373
Merge pull request #19 from rpl-cmu/easton/fac
contagon Dec 6, 2024
db3a0b7
Update ci, clean up clippy lints
contagon Dec 7, 2024
03d94e6
Fix CI with submodule
contagon Dec 7, 2024
5853ef2
Fix serde example
contagon Dec 7, 2024
7253839
Added left and fake_exp to tests
contagon Dec 9, 2024
6ca8eca
Merge pull request #20 from rpl-cmu/easton/ci
contagon Dec 9, 2024
0525741
Clean up fac! noise as literal
contagon Dec 9, 2024
99e4f57
Merge pull request #21 from rpl-cmu/easton/fac_std_cov
contagon Dec 9, 2024
8b87d19
Made GPS example, clean up some printing
contagon Dec 9, 2024
6048b57
Typo in gps example
contagon Dec 9, 2024
bc44e47
Clean up g2o example
contagon Dec 9, 2024
f705738
Switch from ahash -> foldhash
contagon Dec 10, 2024
0778512
Clean up serde example
contagon Dec 10, 2024
85eb246
Remove serde_json feature
contagon Dec 10, 2024
0951c23
Fix clippy lint
contagon Dec 10, 2024
1e4dc78
Add g2o data, document examples in readme
contagon Dec 10, 2024
34a6964
Merge pull request #22 from rpl-cmu/easton/examples
contagon Dec 10, 2024
2406ab8
Cleaned up symbol layout, added ability for custom formatters
contagon Dec 11, 2024
011c625
Add precision to all printing
contagon Dec 11, 2024
d921286
Finalized all updated printing
contagon Dec 13, 2024
6da53e5
Switch from macros to write_str for slight speedup
contagon Dec 13, 2024
8add20a
Merge pull request #23 from rpl-cmu/easton/printing
contagon Dec 13, 2024
75f1446
Moved variable datatype from generic to assoc type
contagon Dec 13, 2024
38394f0
Move dual_setup -> dual_exp, dual_convert -> cast
contagon Dec 16, 2024
86dcbe2
Rename VariableUmbrella -> VariableDtype
contagon Dec 16, 2024
7b7b3f1
Merge pull request #24 from rpl-cmu/easton/variable-clean
contagon Dec 16, 2024
8127c1e
Make core module to pair with trait module
contagon Dec 17, 2024
42fa235
Cleaned
contagon Dec 17, 2024
5e9396d
Add clone to graph/factor/values, add factrs-bench crate
contagon Dec 17, 2024
bf5ff27
Cleaned up benchmark library
contagon Dec 17, 2024
7e0a757
Got C++ library linking working
contagon Dec 18, 2024
7c48ca9
Getting closer, linking errors now
contagon Dec 18, 2024
12b45b6
gtsam benches work! Need to debug why so slow
contagon Dec 18, 2024
ad71a85
Stuck on segfault when making gtsam graph
contagon Dec 18, 2024
d37a64f
Switched to unique_ptr
contagon Dec 19, 2024
7720281
Stick to just rust benchmarks for now
contagon Dec 19, 2024
bf9e077
Fix tiny-solver forcing rayon into multithreading
contagon Dec 19, 2024
85da5c5
Adding separate C++ executable for benchmarks
contagon Dec 20, 2024
a1add87
Finalize benchmarking
contagon Jan 2, 2025
b3e6921
Added some inlining, enabled lto, and fixed cov bug in g2o loader.
contagon Jan 2, 2025
dd22fb8
Fix typo in readme
contagon Jan 2, 2025
eeac240
Merge pull request #25 from rpl-cmu/easton/benches-rust
contagon Jan 2, 2025
300a2e7
Added split gaussian option to fac!
contagon Jan 3, 2025
be25f60
Merge pull request #26 from rpl-cmu/split-gaussian
contagon Jan 3, 2025
b83263d
Rework and add loads of documentation
contagon Jan 7, 2025
fb00954
Simplify up factrs-proc variable code
contagon Jan 7, 2025
a9b03d7
Add scraping examples
contagon Jan 7, 2025
299a087
Move some docs from factrs-proc to factrs
contagon Jan 7, 2025
480fb93
Fix some doc tests
contagon Jan 7, 2025
84df588
rustfmt tweaks
contagon Jan 7, 2025
9365024
Cleaned up gps example a bit
contagon Jan 7, 2025
80d2bf7
Add info about type-safety to readme
contagon Jan 7, 2025
a076d5b
Add links for custom key formatting test/example
contagon Jan 8, 2025
749701b
Merge pull request #27 from rpl-cmu/docs
contagon Jan 8, 2025
0e6b755
Update versions & tiny-solver benches
contagon Jan 8, 2025
4833c13
Bump msrv to 1.83 for faer support
contagon Jan 8, 2025
29e60df
switch to nightly for fmt action
contagon Jan 8, 2025
ff5bcb8
Undo nightly for fmt
contagon Jan 8, 2025
aa86c7c
Merge pull request #28 from rpl-cmu/version-bumps
contagon Jan 8, 2025
3599ca5
Fix clippy lints, harden so3 log
contagon Jan 10, 2025
6a31ef8
Reduce so3 log computations
contagon Jan 13, 2025
a1d2328
Bump versions
contagon Jan 13, 2025
51298f1
Update proc cargo.toml
contagon Jan 13, 2025
fe07b5b
Merge pull request #29 from rpl-cmu/prep-release
contagon Jan 13, 2025
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58 changes: 58 additions & 0 deletions .github/workflows/ci.yml
Original file line number Diff line number Diff line change
@@ -0,0 +1,58 @@
name: ci

on:
push:
branches: [ "master", "dev" ]
pull_request:
branches: [ "master", "dev" ]

env:
CARGO_TERM_COLOR: always

# Loosely based on
# https://github.com/nushell/nushell/blob/8771872d861eeb94eec63051cb4938f6306d1dcd/.github/workflows/ci.yml
# https://www.reillywood.com/blog/rust-faster-ci/
jobs:
fmt-clippy:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: recursive

- name: Setup Rust toolchain and cache
uses: actions-rust-lang/setup-rust-toolchain@v1
with:
toolchain: 1.83
components: rustfmt,clippy

- name: cargo fmt
run: cargo fmt --all -- --check

- name: clippy
run: cargo clippy
- name: clippy of tests
run: cargo clippy --tests

tests:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: recursive

- name: Setup Rust toolchain and cache
uses: actions-rust-lang/setup-rust-toolchain@v1
with:
toolchain: 1.83

- name: default
run: cargo test
- name: serde
run: cargo test --features serde
- name: f32
run: cargo test --features f32
- name: left
run: cargo test --features left
- name: fake_exp
run: cargo test --features fake_exp
18 changes: 0 additions & 18 deletions .github/workflows/rust.yml

This file was deleted.

5 changes: 4 additions & 1 deletion .gitignore
Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
/target
/build
.vscode
*.g2o
*.svg
*.png
*.sh
perf*
perf*

factrs-proc/target
3 changes: 3 additions & 0 deletions .gitmodules
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
[submodule "factrs-typetag"]
path = factrs-typetag
url = [email protected]:contagon/factrs-typetag.git
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