Flash Size?

[pcarew]

Hello,
I like the capability of BLA, but I noticed that it has a rather large Flash footprint, almost project killing for me.
Including the library takes over 7 1/2 % of the available Flash size on an Uno.

I'm looking to run a Kalman Filter on a sensor equipped Arduino Uno and saw that just incorporating the Library has a 2,464 Flash impact.

Is there any way to improve the memory usage efficiency?
I noticed that you utilized the Template mechanism of C++. Is this the primary culprit for the large memory footprint?
Is there anyway to slim this library down?

[pcarew]

I'm defining the following Matrices and I guess the way Templates works, Each definition creates a unique piece of code

#define n 4
#define m 3

typedef  BLA::Matrix<n,n> AStateTransistion;                 // n x n
typedef  BLA::Matrix<n,1> BControlMatrix;                    // nx1
typedef  BLA::Matrix<m,n> HStateMeasurementMap;              // m x n
typedef  BLA::Matrix<n,n> QProcessNoise;                    // n x n
typedef  BLA::Matrix<m,m> RMeasurementNoise;                // m x m
typedef  BLA::Matrix<m,1> ZMeasuements;		               // m x 1
typedef  BLA::Matrix<1,1> UControlInput;                    // 1x1
typedef  BLA::Matrix<n,n> PErrorCovariance;                // n x n
typedef  BLA::Matrix<n,1> XStateEstimation;	               // n x 1
typedef  BLA::Matrix<n,1> XStatePrediction;                // n x 1
typedef  BLA::Matrix<n,m> KKarmanGain;                    // n x m

[saumik02]

May be switching to esp or teensy could be some solution. Recently I wrote a 7 state Unscented Kalman Code using C, not only saved space, but also made the code 3X faster to run in an esp compared to using the library.

[Incorrectone]

I suspect the high use of flash storage comes from the compiler's creation of unique functions for each different template operation instead of re-using the same code as in normal C++ programs.

Also since the typedef are themselves not flash intensive, since they would be optimized away if not used, the high flash usage comes from the math and the operations that are being done in your code.

Another thing the matrices you have defined have no type, therefore they default to type float (I think), thus Arduino is manually using software floating points, which I assume also takes up more flash.