Using matrix library for computations

Hi,

BFL requires an external library for matrix computations. As I understand from
the manual, you can choose to use the LTI library, OR the Newmat library OR
the Boost library.

Also, I think that it's not exclusive and you can compile the wrapper for all.

The LTI wrapper users the LTI version 1, which is deprecated for the authors.
I'm not an expert of BFL, and I would like to ask :

1) have you tried to migrate to LTI-2?
2) how about to create a eigen2 wrapper?

Regards,

Leo

_______________________________________________
I hereby promise not to top-post on the
BFL mailing list
BFL [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/bfl

Using matrix library for computations

Hi Leo,

On Tue, Nov 10, 2009 at 3:21 PM, Leopold Palomo-Avellaneda
<leopold [dot] palomo [..] ...> wrote:
> Hi,
>
> BFL requires an external library for matrix computations. As I understand from
> the manual, you can choose to use the LTI library, OR the Newmat library OR
> the Boost library.
>
> Also, I think that it's not exclusive and you can compile the wrapper for all.
>
> The LTI wrapper users the LTI version 1, which is deprecated for the authors.
> I'm not an expert of BFL, and I would like to ask :
>
> 1) have you tried to migrate to LTI-2?
> 2) how about to create a eigen2 wrapper?

My plan is to stop supporting different matrix libraries.
I would prefer to go to eigen2 as single supported matrix library.
As discussed before on the mailinglist the major bottleneck for
getting BFL realtime safe are the matrix calculations for the moment.
I just lack the time to start implementing the eigen2 support ....

Tinne
_______________________________________________
I hereby promise not to top-post on the
BFL mailing list
BFL [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/bfl

Using matrix library for computations

A Dimarts 10 Novembre 2009, Tinne De Laet va escriure:
> Hi Leo,

Hi Tinne,

> On Tue, Nov 10, 2009 at 3:21 PM, Leopold Palomo-Avellaneda
>
> <leopold [dot] palomo [..] ...> wrote:
> > Hi,
> >
> > BFL requires an external library for matrix computations. As I understand
> > from the manual, you can choose to use the LTI library, OR the Newmat
> > library OR the Boost library.
> >
> > Also, I think that it's not exclusive and you can compile the wrapper for
> > all.
> >
> > The LTI wrapper users the LTI version 1, which is deprecated for the
> > authors. I'm not an expert of BFL, and I would like to ask :
> >
> > 1) have you tried to migrate to LTI-2?
> > 2) how about to create a eigen2 wrapper?
>
> My plan is to stop supporting different matrix libraries.
> I would prefer to go to eigen2 as single supported matrix library.

great, it has sense. kdl is going to eigen2, I think. So, with limited
resources is better to be more selective.

> As discussed before on the mailinglist the major bottleneck for
> getting BFL realtime safe are the matrix calculations for the moment.
> I just lack the time to start implementing the eigen2 support ....

but it's not a question of eigen, or newmat or whatever. I think that the
problem is the memory allocator. Maybe with tlsf ...

Leo
_______________________________________________
I hereby promise not to top-post on the
BFL mailing list
BFL [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/bfl

Using matrix library for computations

On Tue, Nov 10, 2009 at 4:12 PM, Leopold Palomo-Avellaneda <
leopold [dot] palomo [..] ...> wrote:

> A Dimarts 10 Novembre 2009, Tinne De Laet va escriure:
> > Hi Leo,
>
> Hi Tinne,
>
> > On Tue, Nov 10, 2009 at 3:21 PM, Leopold Palomo-Avellaneda
> >
> > <leopold [dot] palomo [..] ...> wrote:
> > > Hi,
> > >
> > > BFL requires an external library for matrix computations. As I
> understand
> > > from the manual, you can choose to use the LTI library, OR the Newmat
> > > library OR the Boost library.
> > >
> > > Also, I think that it's not exclusive and you can compile the wrapper
> for
> > > all.
> > >
> > > The LTI wrapper users the LTI version 1, which is deprecated for the
> > > authors. I'm not an expert of BFL, and I would like to ask :
> > >
> > > 1) have you tried to migrate to LTI-2?
> > > 2) how about to create a eigen2 wrapper?
> >
> > My plan is to stop supporting different matrix libraries.
> > I would prefer to go to eigen2 as single supported matrix library.
>
>
> great, it has sense. kdl is going to eigen2, I think. So, with limited
> resources is better to be more selective.
>
> > As discussed before on the mailinglist the major bottleneck for
> > getting BFL realtime safe are the matrix calculations for the moment.
> > I just lack the time to start implementing the eigen2 support ....
>
> but it's not a question of eigen, or newmat or whatever. I think that the
> problem is the memory allocator. Maybe with tlsf ...
>

You can probably do away with allocations using eigen, since it has two nice
features:

- It supports fixed-size matrices. Good if the size is known at compile
time.
- Dynamic-sized matrices whose size has an upper bound known at
compile-time.

Adolfo.

>
> Leo
> _______________________________________________
> I hereby promise not to top-post on the
> BFL mailing list
> BFL [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/bfl
>