Feature/reduce compilation #10
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nathanhhughes
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* forward declare DynamicSceneGraph where possible * rework NodeSymbol and hide eigen in new file * forward declare node attributes and some bounding boxes * forward declare mesh for bounding box * forward declare edge attributes and remove graph utilities from layer * split bindings into separate files * push edges towards derived layers * (wip) move traits and status * split layer prefix from types * minor cleanup of node * simplify eraseVertices * drop getPosition and eigen dep * drop node symbol include * remove typedef from * add missing bindings and fix compilation * add binary serialization for python layers * fix pytorch tests * remove commented code --------- Co-authored-by: Nathan Hughes <na26933@mit.edu>
nathanhhughes
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Dec 12, 2024
* forward declare DynamicSceneGraph where possible * rework NodeSymbol and hide eigen in new file * forward declare node attributes and some bounding boxes * forward declare mesh for bounding box * forward declare edge attributes and remove graph utilities from layer * split bindings into separate files * push edges towards derived layers * (wip) move traits and status * split layer prefix from types * minor cleanup of node * simplify eraseVertices * drop getPosition and eigen dep * drop node symbol include * remove typedef from * add missing bindings and fix compilation * add binary serialization for python layers * fix pytorch tests * remove commented code --------- Co-authored-by: Nathan Hughes <na26933@mit.edu>
nathanhhughes
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Dec 12, 2024
* forward declare DynamicSceneGraph where possible * rework NodeSymbol and hide eigen in new file * forward declare node attributes and some bounding boxes * forward declare mesh for bounding box * forward declare edge attributes and remove graph utilities from layer * split bindings into separate files * push edges towards derived layers * (wip) move traits and status * split layer prefix from types * minor cleanup of node * simplify eraseVertices * drop getPosition and eigen dep * drop node symbol include * remove typedef from * add missing bindings and fix compilation * add binary serialization for python layers * fix pytorch tests * remove commented code --------- Co-authored-by: Nathan Hughes <na26933@mit.edu>
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First attempt to reduce compilation costs for the library. I'm seeing about a 5 second speedup with 12 cores (but it is a little bit slower if you have less cores and you're compiling the bindings because I split the binding code into multiple files)