Struct Problem

pub struct Problem {
    pub total_residual_dimension: usize,
    pub fixed_variable_indexes: HashMap<String, HashSet<usize>>,
    pub variable_bounds: HashMap<String, HashMap<usize, (f64, f64)>>,
    pub variable_manifold: HashMap<String, Arc<dyn Manifold + Sync + Send>>,
    /* private fields */
}

Fields

total_residual_dimension: usize

fixed_variable_indexes: HashMap<String, HashSet<usize>>

variable_bounds: HashMap<String, HashMap<usize, (f64, f64)>>

variable_manifold: HashMap<String, Arc<dyn Manifold + Sync + Send>>

Implementations

impl Problem

pub fn new() -> Problem

pub fn get_variable_name_to_col_idx_dict( &self, parameter_blocks: &HashMap<String, ParameterBlock>, ) -> HashMap<String, usize>

pub fn add_residual_block( &mut self, dim_residual: usize, variable_key_size_list: &[&str], factor: Box<dyn FactorImpl + Send>, loss_func: Option<Box<dyn Loss + Send>>, )

pub fn fix_variable(&mut self, var_to_fix: &str, idx: usize)

pub fn unfix_variable(&mut self, var_to_unfix: &str)

pub fn set_variable_bounds( &mut self, var_to_bound: &str, idx: usize, lower_bound: f64, upper_bound: f64, )

pub fn set_variable_manifold( &mut self, var_name: &str, manifold: Arc<dyn Manifold + Sync + Send>, )

pub fn remove_variable_bounds(&mut self, var_to_unbound: &str)

pub fn initialize_parameter_blocks( &self, initial_values: &HashMap<String, DVector<f64>>, ) -> HashMap<String, ParameterBlock>

pub fn compute_residuals( &self, parameter_blocks: &HashMap<String, ParameterBlock>, with_loss_fn: bool, ) -> Mat<f64>

pub fn compute_residual_and_jacobian( &self, parameter_blocks: &HashMap<String, ParameterBlock>, variable_name_to_col_idx_dict: &HashMap<String, usize>, total_variable_dimension: usize, ) -> (Mat<f64>, SparseColMat<usize, f64>)

Trait Implementations

impl Default for Problem

fn default() -> Self

Returns the “default value” for a type.