Enum VariableEnum 

pub enum VariableEnum {
    Rn(Variable<Rn>),
    SE2(Variable<SE2>),
    SE3(Variable<SE3>),
    SO2(Variable<SO2>),
    SO3(Variable<SO3>),
}

Enum to handle mixed manifold variable types

Variants

Rn(Variable<Rn>)

SE2(Variable<SE2>)

SE3(Variable<SE3>)

SO2(Variable<SO2>)

SO3(Variable<SO3>)

Implementations

impl VariableEnum

pub fn manifold_type(&self) -> ManifoldType

Get the manifold type for this variable

pub fn get_size(&self) -> usize

Get the tangent space size for this variable

pub fn to_vector(&self) -> DVector<f64>

Convert to DVector for use with Factor trait

pub fn apply_tangent_step(&mut self, step_slice: MatRef<'_, f64>)

Apply a tangent space step to update this variable.

This method applies a manifold plus operation: x_new = x ⊞ δx where δx is a tangent vector. It supports all manifold types.

Arguments

• step_slice - View into the full step vector for this variable’s DOF

Implementation Notes

Uses explicit clone instead of unsafe memory copy (IntoNalgebra) for small vectors. This is safe and performant for typical manifold dimensions (1-6 DOF).

pub fn get_covariance(&self) -> Option<&Mat<f64>>

Get the covariance matrix for this variable (if computed).

Returns None if covariance has not been computed.

Returns

Reference to the covariance matrix in tangent space

pub fn set_covariance(&mut self, cov: Mat<f64>)

Set the covariance matrix for this variable.

The covariance matrix should be square with dimension equal to the tangent space dimension of this variable.

Arguments

• cov - Covariance matrix in tangent space

pub fn clear_covariance(&mut self)

Clear the covariance matrix for this variable.

pub fn get_bounds(&self) -> &HashMap<usize, (f64, f64)>

Get the bounds for this variable.

Returns a reference to the bounds map where keys are indices and values are (lower, upper) pairs.

pub fn get_fixed_indices(&self) -> &HashSet<usize>

Get the fixed indices for this variable.

Returns a reference to the set of indices that should remain fixed during optimization.

pub fn set_from_vector(&mut self, vec: &DVector<f64>)

Set the value of this variable from a vector representation.

This is used to update the variable after applying constraints (bounds and fixed indices).

Trait Implementations

impl Clone for VariableEnum

fn clone(&self) -> VariableEnum

Returns a duplicate of the value.

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

Performs copy-assignment from source.