David Novotny
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b2ac2655b3
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SE3 exponential and logarithm maps.
Summary:
Implements the SE3 logarithm and exponential maps.
(this is a second part of the split of D23326429)
Outputs of `bm_se3`:
```
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
SE3_EXP_1 738 885 678
SE3_EXP_10 717 877 698
SE3_EXP_100 718 847 697
SE3_EXP_1000 729 1181 686
--------------------------------------------------------------------------------
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
SE3_LOG_1 1451 2267 345
SE3_LOG_10 2185 2453 229
SE3_LOG_100 2217 2448 226
SE3_LOG_1000 2455 2599 204
--------------------------------------------------------------------------------
```
Reviewed By: patricklabatut
Differential Revision: D27852557
fbshipit-source-id: e42ccc9cfffe780e9cad24129de15624ae818472
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2021-06-21 04:48:27 -07:00 |
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