pub struct Optimizer { /* private fields */ }Expand description
A relaxation in progress, over a copy of the graph taken by PoseGraph::begin_optimize.
Implementations§
Source§impl Optimizer
impl Optimizer
Sourcepub fn step(&mut self, sweeps: u32) -> bool
pub fn step(&mut self, sweeps: u32) -> bool
Runs up to sweeps Gauss-Seidel sweeps (at least one). The first step first tries the exact solution of a
single anchored cycle, which counts as one iteration and finishes at once. Returns whether relaxation is
done: converged, solved exactly, or out of sweeps.
pub fn iterations(&self) -> u32
pub fn is_done(&self) -> bool
Auto Trait Implementations§
impl Freeze for Optimizer
impl RefUnwindSafe for Optimizer
impl Send for Optimizer
impl Sync for Optimizer
impl Unpin for Optimizer
impl UnsafeUnpin for Optimizer
impl UnwindSafe for Optimizer
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> 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 more