Enum ApexSolverError 

pub enum ApexSolverError {
    Core(CoreError),
    Optimizer(OptimizerError),
    LinearAlgebra(LinAlgError),
    Manifold(ManifoldError),
    Io(IoError),
    Observer(ObserverError),
    Factor(FactorError),
    Linearizer(LinearizerError),
    Camera(CameraModelError),
}

Main error type for the apex-solver library

This is the top-level error type (Layer A) exposed by public APIs. It wraps module-specific errors while preserving the full error chain for debugging.

Error Chain Access

You can access the full error chain using the chain() method:

if let Err(e) = solver_optimize() {
    warn!("Error: {}", e);
    warn!("Full chain: {}", e.chain());
}

Variants

Core(CoreError)

Core module errors (problem construction, factors, variables, loss functions)

Optimizer(OptimizerError)

Optimization algorithm errors

LinearAlgebra(LinAlgError)

Linear algebra errors

Manifold(ManifoldError)

Manifold operation errors

Io(IoError)

I/O and file parsing errors

Observer(ObserverError)

Observer/visualization errors

Factor(FactorError)

Factor computation errors (projection, between factors, etc.)

Linearizer(LinearizerError)

Linearizer errors (Jacobian assembly, symbolic structure)

Camera(CameraModelError)

Camera model errors (projection, parameter validation, etc.)

Implementations

impl ApexSolverError

pub fn chain(&self) -> String

Get the full error chain as a string for logging and debugging.

This method traverses the error source chain and returns a formatted string showing the hierarchy of errors from the top-level ApexSolverError down to the root cause.

Example

match solver_optimize() {
    Ok(result) => { /* ... */ }
    Err(e) => {
        warn!("Optimization failed!");
        warn!("Error chain: {}", e.chain());
        // Output: "Optimizer error: Linear system solve failed →
        //          Linear algebra error: Singular matrix detected"
    }
}

pub fn chain_compact(&self) -> String

Get a compact single-line error chain for logging

Similar to chain() but formats as a single line with arrow separators.

Example

error!("Operation failed: {}", apex_err.chain_compact());
// Output: "Optimizer error → Linear algebra error → Singular matrix"

Trait Implementations

impl Debug for ApexSolverError

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Display for ApexSolverError

fn fmt(&self, __formatter: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Error for ApexSolverError

fn source(&self) -> Option<&(dyn Error + 'static)>

Returns the lower-level source of this error, if any.

fn description(&self) -> &str

👎Deprecated since 1.42.0:

use the Display impl or to_string()

fn cause(&self) -> Option<&dyn Error>

👎Deprecated since 1.33.0:

replaced by Error::source, which can support downcasting

fn provide<'a>(&'a self, request: &mut Request<'a>)

🔬This is a nightly-only experimental API. (error_generic_member_access)

Provides type-based access to context intended for error reports.

impl From<CameraModelError> for ApexSolverError

fn from(source: CameraModelError) -> Self

Converts to this type from the input type.

impl From<CoreError> for ApexSolverError

fn from(source: CoreError) -> Self

Converts to this type from the input type.

impl From<FactorError> for ApexSolverError

fn from(source: FactorError) -> Self

Converts to this type from the input type.

impl From<IoError> for ApexSolverError

fn from(source: IoError) -> Self

Converts to this type from the input type.

impl From<LinAlgError> for ApexSolverError

fn from(source: LinAlgError) -> Self

Converts to this type from the input type.

impl From<LinearizerError> for ApexSolverError

fn from(source: LinearizerError) -> Self

Converts to this type from the input type.

impl From<ManifoldError> for ApexSolverError

fn from(source: ManifoldError) -> Self

Converts to this type from the input type.

impl From<ObserverError> for ApexSolverError

fn from(source: ObserverError) -> Self

Converts to this type from the input type.

impl From<OptimizerError> for ApexSolverError

fn from(source: OptimizerError) -> Self

Converts to this type from the input type.