Enum FactorError 

pub enum FactorError {
    InvalidDimension {
        expected: usize,
        actual: usize,
    },
    InvalidProjection(String),
    JacobianFailed(String),
    InvalidParameters(String),
    NumericalInstability(String),
}

Factor-specific error types for apex-solver

Variants

InvalidDimension

Invalid dimension mismatch between expected and actual

Fields

expected: usize

actual: usize

InvalidProjection(String)

Invalid projection (point behind camera or outside valid range)

JacobianFailed(String)

Jacobian computation failed

InvalidParameters(String)

Invalid parameter values

NumericalInstability(String)

Numerical instability detected

Implementations

impl FactorError

pub fn log(self) -> Self

Log the error with tracing::error and return self for chaining

This method allows for a consistent error logging pattern throughout the factors module, ensuring all errors are properly recorded.

Example

operation()
    .map_err(|e| e.log())?;

pub fn log_with_source<E: Debug>(self, source_error: E) -> Self

Log the error with the original source error for debugging context

This method logs both the FactorError and the underlying error from external libraries or internal operations, providing full debugging context when errors occur.

Arguments

• source_error - The original error (must implement Debug)

Example

compute_jacobian()
    .map_err(|e| {
        FactorError::JacobianFailed("Matrix computation failed".to_string())
            .log_with_source(e)
    })?;

Trait Implementations

impl Clone for FactorError

fn clone(&self) -> FactorError

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for FactorError

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

Formats the value using the given formatter.

impl Display for FactorError

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

Formats the value using the given formatter.

impl Error for FactorError

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.