Struct ceres_solver::nlls_problem::ResidualBlockBuilder

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

Builder for a new residual block. It captures NllsProblem and returns it back with ResidualBlockBuilder::build_into_problem call.

Implementations

impl<'cost> ResidualBlockBuilder<'cost>

pub fn set_cost( self, func: impl Into<CostFunctionType<'cost>>, num_residuals: usize ) -> Self

Set cost function for the residual block.

Arguments:

• func - cost function, see [CostFunction] for details on how to implement it,
• num_residuals - number of residuals, typically the same as the number of experiments.

pub fn set_loss(self, loss: LossFunction) -> Self

Set loss function for the residual block.

pub fn set_parameters<P>(self, parameters: impl IntoIterator<Item = P>) -> Selfwhere P: Into<ParameterBlockOrIndex>,

Set parameters for the residual block.

The argument is an iterator over ParameterBlockOrIndex which can be either a new parameter block or an index of an existing parameter block.

pub fn add_parameter<P>(self, parameter_block: P) -> Selfwhere P: Into<ParameterBlockOrIndex>,

Add a new parameter block to the residual block.

The argument is either a new parameter block or an index of an existing parameter block.

pub fn build_into_problem( self ) -> Result<(NllsProblem<'cost>, ResidualBlockId), ResidualBlockBuildingError>

Build the residual block, add to the problem and return the problem back.

Returns ResidualBlockBuildingError if:

• cost function is not set,
• no parameters are set,
• any of the parameters is not a new parameter block or an index of an existing parameter.

Otherwise returns the problem and the residual block id.