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StructureAware

apex_solver::linalg

Trait StructureAware 

Source 
pub trait StructureAware {
    // Required method
    fn initialize_structure(
        &mut self,
        variables: &HashMap<String, VariableEnum>,
        variable_index_map: &HashMap<String, usize>,
    ) -> LinAlgResult<()>;
}
Expand description

For solvers that need variable structure information before solving.

Implemented by Schur complement solvers, which must partition variables into camera and landmark blocks before performing any linear solves. Call initialize_structure once during solver setup, before passing the solver to an optimizer.

Required Methods§

Source

fn initialize_structure( &mut self, variables: &HashMap<String, VariableEnum>, variable_index_map: &HashMap<String, usize>, ) -> LinAlgResult<()>

Initialize the solver’s block structure from problem variables.

Implementors§