Struct OptimiseParams 

pub struct OptimiseParams {
    pub anchor: usize,
    pub max_iterations: usize,
    pub step_tolerance: f64,
    pub initial_damping: f64,
}

How hard to try.

Fields

anchor: usize

Which node is held fixed.

A pose graph determines its nodes only up to a common rigid motion: six directions of the system are free no matter how many edges there are. Holding one node still is how that gauge freedom is removed, and the survey’s coordinates then mean “relative to this scan”.

max_iterations: usize

Stop after this many accepted steps.

step_tolerance: f64

Stop when a step moves every node less than this, in the units of the algebra — metres, and radians at one metre.

initial_damping: f64

Where the Levenberg damping starts.

Damping is not a luxury here. Zeroing the unobservable directions of an edge is the entire point of the crate, and it can leave the whole system rank-deficient — a survey where nothing at all constrains one direction is a survey this crate should still return an answer for, rather than a factorisation error.

Trait Implementations

impl Clone for OptimiseParams

fn clone(&self) -> OptimiseParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for OptimiseParams

impl Debug for OptimiseParams

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

Formats the value using the given formatter.

impl Default for OptimiseParams

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for OptimiseParams

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for OptimiseParams