Struct Problem 

pub struct Problem { /* private fields */ }

Implementations

impl Problem

pub fn new(jacobian_mode: JacobianMode) -> Self

pub fn mark_as_schur_landmark(&mut self, key: VarKey)

Mark a variable as a Schur complement landmark (eliminated block).

Call this for every landmark/point variable when using a Schur complement solver. Variables not marked here are treated as camera-block variables.

pub fn add_variable( &mut self, manifold_type: ManifoldType, params: DVector<f64>, ) -> VarKey

Add a variable with a given manifold type and initial parameter vector.

Returns a stable VarKey handle for use in add_residual_block, fix_variable, etc.

pub fn add_residual_block( &mut self, variable_keys: &[VarKey], factor: Box<dyn Factor + Send>, loss_func: Option<Box<dyn LossFunction + Send>>, ) -> FactorKey

Add a residual block (factor + optional loss) connecting the given variables.

Returns a FactorKey that can be used to remove the block later.

pub fn remove_residual_block( &mut self, block_id: FactorKey, ) -> Option<ResidualBlock>

pub fn fix_variable(&mut self, var_key: VarKey, idx: usize)

pub fn unfix_variable(&mut self, var_key: VarKey)

pub fn set_variable_bounds( &mut self, var_key: VarKey, idx: usize, lower_bound: f64, upper_bound: f64, )

pub fn remove_variable_bounds(&mut self, var_key: VarKey)

pub fn apply_constraints_to_variables( &self, variables: &mut SlotMap<VarKey, Box<dyn ManifoldVariable>>, )

Apply fixed indices and bounds to a mutable clone of the variable map.

Optimizers call this after copying problem.variables to initialize working state.

pub fn num_residual_blocks(&self) -> usize

pub fn compute_residual_sparse( &self, variables: &SlotMap<VarKey, Box<dyn ManifoldVariable>>, ) -> CoreResult<Mat<f64>>

Compute only the residual vector (no Jacobian) for the given variable values.

pub fn compute_residual_and_jacobian_sparse( &self, variables: &SlotMap<VarKey, Box<dyn ManifoldVariable>>, variable_index_map: &SecondaryMap<VarKey, usize>, symbolic_structure: &SymbolicStructure, ) -> CoreResult<(Mat<f64>, SparseColMat<usize, f64>)>

Compute residuals and sparse Jacobian.

pub fn compute_residual_and_jacobian_dense( &self, variables: &SlotMap<VarKey, Box<dyn ManifoldVariable>>, variable_index_map: &SecondaryMap<VarKey, usize>, total_dof: usize, ) -> CoreResult<(Mat<f64>, Mat<f64>)>

Compute residuals and dense Jacobian.

pub fn log_residual_to_file( &self, residual: &DVector<f64>, filename: &str, ) -> Result<(), Error>

pub fn log_sparse_jacobian_to_file( &self, jacobian: &SparseColMat<usize, f64>, filename: &str, ) -> Result<(), Error>

pub fn log_variables_to_file( &self, variables: &SlotMap<VarKey, Box<dyn ManifoldVariable>>, filename: &str, ) -> Result<(), Error>

pub fn compute_and_set_covariances( &self, linear_solver: &mut Box<dyn LinearSolver<SparseMode>>, variables: &mut SlotMap<VarKey, Box<dyn ManifoldVariable>>, variable_index_map: &SecondaryMap<VarKey, usize>, ) -> Option<SecondaryMap<VarKey, Mat<f64>>>

pub fn compute_and_set_covariances_generic<M: LinearizationMode>( &self, linear_solver: &mut dyn LinearSolver<M>, variables: &mut SlotMap<VarKey, Box<dyn ManifoldVariable>>, variable_index_map: &SecondaryMap<VarKey, usize>, ) -> Option<SecondaryMap<VarKey, Mat<f64>>>

Trait Implementations

impl Default for Problem

fn default() -> Self

Returns the “default value” for a type.