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initialize_optimization_state

apex_solver::optimizer

Function initialize_optimization_state 

Source 
pub fn initialize_optimization_state(
    problem: &Problem,
    initial_params: &HashMap<String, (ManifoldType, DVector<f64>)>,
) -> OptimizerResult<InitializedState>
Expand description

Initialize optimization state from problem and initial parameters.

This is the common initialization sequence used by all optimizers:

  1. Create variables from initial values
  2. Build variable-to-column index mapping
  3. Build symbolic sparsity structure for Jacobian (sparse mode only)
  4. Compute initial cost

The assembly mode is determined by problem.jacobian_mode.