symforce.opt package

Subpackages

• symforce.opt.objectives package
  • Submodules
    • symforce.opt.objectives.min_max_barrier_objective module
      • MinMaxBarrierObjective
    • symforce.opt.objectives.norm_barrier_objective module
      • NormBarrierObjective
    • symforce.opt.objectives.prior_value_objective module
      • PriorValueObjective

Submodules

• symforce.opt.barrier_functions module
  • max_power_barrier()
  • max_linear_barrier()
  • min_power_barrier()
  • min_linear_barrier()
  • symmetric_power_barrier()
  • min_max_power_barrier()
  • min_max_linear_barrier()
  • min_max_centering_power_barrier()
• symforce.opt.factor module
  • Factor
    • default_codegen_config()
    • from_inputs_and_residual()
    • generate()
    • to_numeric_factor()
  • visualize_factors()
• symforce.opt.noise_models module
  • NoiseModel
    • whiten()
    • reduce()
    • error()
  • ScalarNoiseModel
    • whiten_scalar()
    • whiten()
    • whiten_norm()
  • IsotropicNoiseModel
    • from_variance()
    • from_sigma()
    • whiten_scalar()
  • DiagonalNoiseModel
    • from_variances()
    • from_sigmas()
    • whiten()
  • PseudoHuberNoiseModel
    • pseudo_huber_error()
    • whiten_scalar()
  • BarronNoiseModel
    • compute_alpha_from_mu()
    • barron_error()
    • whiten_scalar()
• symforce.opt.numeric_factor module
  • NumericFactor
    • from_file_python()
    • linearize()
    • cc_factor()
• symforce.opt.objective module
  • Objective
    • Params
    • default_inputs()
  • TimestepObjective
    • residual_at_timestep()
    • Params
• symforce.opt.optimization_problem module
  • OptimizationProblem
    • subproblems
    • inputs
    • residual_blocks
    • residuals
    • extra_values
    • split_residual_blocks()
    • keys()
    • optimized_keys()
    • generate()
    • residual_blocks_per_factor()
    • compute_jacobians()
    • make_symbolic_factors()
    • make_numeric_factors()
  • build_inputs()
• symforce.opt.optimizer module
  • Optimizer
    • Params
    • Status
    • FailureReason
    • Result
      • initial_values
      • optimized_values
      • iterations
      • best_index
      • status
      • failure_reason
      • best_linearization
      • jacobian_sparsity
      • linear_solver_ordering
      • cholesky_factor_sparsity
      • initial_values
      • optimized_values
      • iterations
      • best_index
      • status
      • failure_reason
      • best_linearization
      • jacobian_sparsity
      • linear_solver_ordering
      • cholesky_factor_sparsity
      • error()
    • compute_all_covariances()
    • compute_covariances()
    • compute_full_covariance()
    • optimize()
    • linearize()
    • load_iteration_values()
    • linearization_index()
    • linearization_index_entry()
• symforce.opt.optimizer_params module
  • OptimizerParams
    • verbose
    • debug_stats
    • check_derivatives
    • include_jacobians
    • debug_checks
    • initial_lambda
    • lambda_lower_bound
    • lambda_upper_bound
    • lambda_update_type
    • lambda_up_factor
    • lambda_down_factor
    • dynamic_lambda_update_beta
    • dynamic_lambda_update_gamma
    • dynamic_lambda_update_p
    • use_diagonal_damping
    • use_unit_damping
    • keep_max_diagonal_damping
    • diagonal_damping_min
    • iterations
    • early_exit_min_reduction
    • early_exit_min_absolute_error
    • enable_bold_updates
    • to_lcm()
    • from_lcm()
• symforce.opt.residual_block module
  • ResidualBlock
    • residual
    • extra_values
    • metadata
    • factor_name
    • compute_jacobians()
    • set_metadata()
    • set_factor_name()
  • ResidualBlockWithCustomJacobian
    • custom_jacobians
    • compute_jacobians()
• symforce.opt.sub_problem module
  • SubProblem
    • Inputs
    • inputs
    • name
    • build_inputs()
    • build_residuals()
    • optimized_values()
• symforce.opt.timestep_sub_problem module
  • TimestepSubProblem
    • timesteps
    • build_inputs()