Frequently asked questions
==========================

#. **Why is the project called wrenfold?** The name is derived by combining
   `wren <https://en.wikipedia.org/wiki/Wren>`_ (a cute bird) with "fold" - as in manifold, a
   mathematical concept.

#. **Why did you make this?** I work on a mixture of computer vision and state estimation problems.
   The symbolic code generation workflow is well suited to these domains, and can meaningfully
   improve iteration time for experimenting with new algorithms or parameterizations.
   The `SymForce paper <https://arxiv.org/abs/2204.07889>`_ outlines the core concept, but I felt as
   though there were areas that the implementation could be expanded and rendered more powerful.

#. **I found a bug, what should I do?** Please consider
   `filing a bug <https://github.com/wrenfold/wrenfold/issues/new/choose>`_.