Struct EdgeReport 

pub struct EdgeReport {
    pub edge: usize,
    pub translation: f64,
    pub rotation: f64,
    pub cost: f64,
}

What one edge is doing after a solve.

Fields

edge: usize

Its position in PoseGraph::edges.

translation: f64

How far apart the two ends are, metres.

rotation: f64

And by what angle, radians.

cost: f64

rᵀΛr: how hard this edge is pulling against the rest.

The pair of numbers is the diagnosis, not either alone. An edge that disagrees by half a metre and costs nothing is an edge whose weight along that direction was removed — it could not see along there, the survey settled by some other path, and nothing is wrong. An edge that disagrees by a millimetre and costs a great deal is a measurement in a fight it should be winning.

Trait Implementations

impl Clone for EdgeReport

fn clone(&self) -> EdgeReport

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for EdgeReport

impl Debug for EdgeReport

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

Formats the value using the given formatter.

impl PartialEq for EdgeReport

fn eq(&self, other: &EdgeReport) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for EdgeReport