pub struct SolverResult<T> {
pub parameters: T,
pub status: OptimizationStatus,
pub initial_cost: f64,
pub final_cost: f64,
pub iterations: usize,
pub elapsed_time: Duration,
pub convergence_info: Option<ConvergenceInfo>,
pub covariances: Option<HashMap<String, Mat<f64>>>,
}Expand description
Result of a solver execution.
Fields§
§parameters: TFinal parameters
status: OptimizationStatusFinal optimization status
initial_cost: f64Initial cost value
final_cost: f64Final cost value
iterations: usizeNumber of iterations performed
elapsed_time: DurationTotal time elapsed
convergence_info: Option<ConvergenceInfo>Convergence statistics
covariances: Option<HashMap<String, Mat<f64>>>Per-variable covariance matrices (uncertainty estimation)
This is None if covariance computation was not enabled in the solver configuration.
When present, it contains a mapping from variable names to their covariance matrices
in tangent space. For example, for SE3 variables this would be 6×6 matrices.
Enable covariance computation by setting compute_covariances: true in the optimizer config.
Trait Implementations§
Source§impl<T: Clone> Clone for SolverResult<T>
impl<T: Clone> Clone for SolverResult<T>
Source§fn clone(&self) -> SolverResult<T>
fn clone(&self) -> SolverResult<T>
Returns a duplicate of the value. Read more
1.0.0 · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreAuto Trait Implementations§
impl<T> Freeze for SolverResult<T>where
T: Freeze,
impl<T> RefUnwindSafe for SolverResult<T>where
T: RefUnwindSafe,
impl<T> Send for SolverResult<T>where
T: Send,
impl<T> Sync for SolverResult<T>where
T: Sync,
impl<T> Unpin for SolverResult<T>where
T: Unpin,
impl<T> UnwindSafe for SolverResult<T>where
T: UnwindSafe,
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> DistributionExt for Twhere
T: ?Sized,
impl<T> DistributionExt for Twhere
T: ?Sized,
Source§impl<T> Instrument for T
impl<T> Instrument for T
Source§fn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
Source§fn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§impl<T> Pointable for T
impl<T> Pointable for T
Source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
Source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read moreSource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).Source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.Source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.