SolverResult

apex_solver::optimizer

Struct SolverResult 

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pub struct SolverResult<T> {
    pub parameters: T,
    pub status: OptimizationStatus,
    pub initial_cost: f64,
    pub final_cost: f64,
    pub iterations: usize,
    pub elapsed_time: Duration,
    pub convergence_info: Option<ConvergenceInfo>,
    pub covariances: Option<HashMap<String, Mat<f64>>>,
}
Expand description

Result of a solver execution.

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§parameters: T

Final parameters

§status: OptimizationStatus

Final optimization status

§initial_cost: f64

Initial cost value

§final_cost: f64

Final cost value

§iterations: usize

Number of iterations performed

§elapsed_time: Duration

Total time elapsed

§convergence_info: Option<ConvergenceInfo>

Convergence statistics

§covariances: Option<HashMap<String, Mat<f64>>>

Per-variable covariance matrices (uncertainty estimation)

This is None if covariance computation was not enabled in the solver configuration. When present, it contains a mapping from variable names to their covariance matrices in tangent space. For example, for SE3 variables this would be 6×6 matrices.

Enable covariance computation by setting compute_covariances: true in the optimizer config.

Trait Implementations§

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impl<T: Clone> Clone for SolverResult<T>

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fn clone(&self) -> SolverResult<T>

Returns a duplicate of the value. Read more
1.0.0 · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

Auto Trait Implementations§

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impl<T> Freeze for SolverResult<T>
where T: Freeze,

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impl<T> RefUnwindSafe for SolverResult<T>
where T: RefUnwindSafe,

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impl<T> Send for SolverResult<T>
where T: Send,

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impl<T> Sync for SolverResult<T>
where T: Sync,

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impl<T> Unpin for SolverResult<T>
where T: Unpin,

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impl<T> UnwindSafe for SolverResult<T>
where T: UnwindSafe,

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