Research map / Probabilistic and scientific modeling / Molecules and proteins
Efficient Derivative Computation for Cumulative B-Splines on Lie Groups
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use recurrence-based derivatives instead of the prior derivative formulation | SO(3) cumulative B-spline, order 4, acceleration measurements · Simulated sequence | optimization time (s): 0.147 -> 0.057; 2.57 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SO(3) cumulative B-spline, order 4, velocity measurements · Simulated sequence | optimization time (s): 0.088 -> 0.058; 1.52 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SO(3) cumulative B-spline, order 5, acceleration measurements · Simulated sequence | optimization time (s): 0.280 -> 0.081; 3.45 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SO(3) cumulative B-spline, order 5, velocity measurements · Simulated sequence | optimization time (s): 0.141 -> 0.082; 1.73 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SO(3) cumulative B-spline, order 6, acceleration measurements · Simulated sequence | optimization time (s): 0.520 -> 0.117; 4.43 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SO(3) cumulative B-spline, order 6, velocity measurements · Simulated sequence | optimization time (s): 0.217 -> 0.111; 1.95 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SE(3) cumulative B-spline, order 4, acceleration measurements · Simulated sequence | optimization time (s): 0.587 -> 0.277; 2.12 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SE(3) cumulative B-spline, order 4, velocity measurements · Simulated sequence | optimization time (s): 0.334 -> 0.253; 1.32 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SE(3) cumulative B-spline, order 5, acceleration measurements · Simulated sequence | optimization time (s): 1.196 -> 0.445; 2.69 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SE(3) cumulative B-spline, order 5, velocity measurements · Simulated sequence | optimization time (s): 0.581 -> 0.405; 1.43 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SE(3) cumulative B-spline, order 6, acceleration measurements · Simulated sequence | optimization time (s): 2.332 -> 0.644; 3.62 | Helped |
| Use recurrence-based derivatives instead of the prior derivative formulation | SE(3) cumulative B-spline, order 6, velocity measurements · Simulated sequence | optimization time (s): 0.936 -> 0.590; 1.59 | Helped |
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