Struct ProblemIR 

pub struct ProblemIR {
    pub params: Vec<ParamBlock>,
    pub residuals: Vec<ResidualBlock>,
}

Backend-agnostic optimization problem representation.

Backends compile this IR into solver-specific problems.

Fields

params: Vec<ParamBlock>

Parameter blocks in this optimization problem.

residuals: Vec<ResidualBlock>

Residual blocks in this optimization problem.

Implementations

impl ProblemIR

pub fn new() -> Self

Creates an empty IR.

pub fn add_param_block( &mut self, name: impl Into<String>, dim: usize, manifold: ManifoldKind, fixed: FixedMask, bounds: Option<Vec<Bound>>, ) -> ParamId

Adds a parameter block and returns its ParamId.

pub fn add_residual_block(&mut self, residual: ResidualBlock)

Adds a residual block to the IR.

pub fn param_by_name(&self, name: &str) -> Option<ParamId>

Finds a parameter by name.

pub fn validate(&self) -> Result<(), Error>

Validates internal consistency and factor expectations.

Errors

Returns crate::Error::Numerical (converted from the internal structural error) if the IR has inconsistent parameter indices, malformed factor blocks, or residual-dimension mismatches.

Trait Implementations

impl Clone for ProblemIR

fn clone(&self) -> ProblemIR

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ProblemIR

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

Formats the value using the given formatter.

impl Default for ProblemIR

fn default() -> ProblemIR

Returns the “default value” for a type.