Struct Edge 

pub struct Edge {
    pub other: i32,
    pub dx: f64,
    pub dy: f64,
    pub weight: f64,
}

One directed edge node -> other, other already resolved to a node index by the caller. other < 0 is a defensive sentinel for “target node not found” (mirrors this.nodes.get(edge.other) returning undefined in pose-graph.ts’s optimize()/residual loops): the edge is skipped without stopping the edge loop, exactly as if (!other) continue; does there. In practice every edge’s other always resolves — nodes are never removed once hydrated — but the sentinel keeps the two sides’ control flow identical rather than assuming it.

Fields

other: i32

dx: f64

dy: f64

weight: f64