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There are many functions in include/grbda/Utils/Spatial.h that have optimized unrolled implementations. Worth a unit test on each of these that uses conventional operations (e.g., Eigen-based cross products)
There are many functions in include/grbda/Utils/Spatial.h that have optimized unrolled implementations. Worth a unit test on each of these that uses conventional operations (e.g., Eigen-based cross products)