Struct ceres_solver::nlls_problem::NllsProblem

pub struct NllsProblem<'cost> { /* private fields */ }

Non-Linear Least Squares problem.

You use it in three steps:

• NllsProblem::new creates a new empty instance of the problem.
• NllsProblem::add_residual_block adds a ResidualBlock, each with its own parameters, cost and loss functions.
• NllsProblem::solve solves the problem and returns a vector consists of parameters for each residual block.

NllsProblem::solve call invalidates the NllsProblem instance, so calling this method twice would return Err. Err also is returned if no residual block have been added to the problem.

Implementations

impl<'cost> NllsProblem<'cost>

pub fn new() -> Self

A new NllsProblem having ProblemStatus::Uninitialized state.

pub fn add_residual_block(
    &mut self,
    block: ResidualBlock<'cost>
) -> Result<(), Error>

Adds a residual block to the problem.

Returns Err if NllsProblem has ProblemStatus::Solved state.

pub fn solve(&mut self) -> Result<Vec<Vec<Vec<f64>>>, Error>

Solves the problem and returns a vector of solutions, one per residual block. Returns Err if problem doesn’t have ProblemStatus::Ready state.

pub fn status(&self) -> &ProblemStatus<'_>

Returns the status of the problem.

pub fn num_blocks(&self) -> usize

Returns the number of residual blocks for an unsolved problem, zero otherwise.

Trait Implementations

impl<'cost> Default for NllsProblem<'cost>

fn default() -> Self

Returns blank instance.

impl<'cost> Drop for NllsProblem<'cost>

fn drop(&mut self)

Calls C destructor.