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feat: Rust VIO implementation + cross-language numerical test suite #1

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feat: Rust VIO implementation + cross-language numerical test suite #1

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944d367
Add benchmarked, linted, tested Rust implementation of LEVIO VIO
vlordier Apr 16, 2026
4b4942a
Remove build artifacts from tracking and add target/ to .gitignore
vlordier Apr 16, 2026
79b273a
Optimise hot-path algorithms in the Rust implementation
vlordier Apr 16, 2026
e1a6018
Further hot-path optimisation, fixes, and chores
vlordier Apr 16, 2026
78081be
perf/chore: round 3 hot-path optimisations and housekeeping
vlordier Apr 16, 2026
06c77d5
perf/chore: round 4 hot-path optimisations and housekeeping
vlordier Apr 16, 2026
eb20eed
perf/typing/portability: round 5 hotpath, typing, magic numbers, repr(C)
vlordier Apr 16, 2026
d2d9aa3
perf/chore: round 6 hotpath, zero-elim, skew inline, debug_assert casts
vlordier Apr 16, 2026
3030a02
perf/chore: round 7 half-angle trick, DLT alloc elim, ata fast path
vlordier Apr 16, 2026
cd72423
perf/fix/chore: round 8 Harris loop, QR alloc, overflow fix, constants
vlordier Apr 16, 2026
de0d9b5
perf: round 9 matrix fast paths, QR bvec, candidates pre-alloc
vlordier Apr 16, 2026
3004211
Round 10: trait-oriented interfaces, realtime-safe RANSAC, no-magic-n…
vlordier Apr 16, 2026
1dc7e83
Round 11: Mat3 type alias, Optimizer/Preintegrator traits, bug fixes,…
vlordier Apr 16, 2026
ffb4d8e
feat: Rust implementation + cross-language test suite (rounds 1–17)
vlordier Apr 16, 2026
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ log/

# Build
build/
levio_rust/target/

# IDE
.vscode/
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23 changes: 23 additions & 0 deletions cross_lang_tests/c/Makefile
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Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
CC = cc
CFLAGS = -O2 -Wall -Wextra -Werror -Wshadow -Wdouble-promotion -Wformat=2 -std=c11
LDFLAGS = -lm

all: test_numerics test_numerics_bench

test_numerics: test_numerics.c
$(CC) $(CFLAGS) -o $@ $< $(LDFLAGS)

# Rebuild with -DBENCH to enable the timing section
test_numerics_bench: test_numerics.c
$(CC) $(CFLAGS) -DBENCH -o $@ $< $(LDFLAGS)

run: test_numerics
./test_numerics

bench: test_numerics_bench
./test_numerics_bench --bench

clean:
rm -f test_numerics test_numerics_bench

.PHONY: all run clean
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