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
    • Factor.default_codegen_config()
    • Factor.__init__()
    • Factor.from_inputs_and_residual()
    • Factor.generate()
    • Factor.to_numeric_factor()
  • visualize_factors()
• symforce.opt.noise_models module
  • NoiseModel
    • NoiseModel.whiten()
    • NoiseModel.reduce()
    • NoiseModel.error()
  • ScalarNoiseModel
    • ScalarNoiseModel.whiten_scalar()
    • ScalarNoiseModel.whiten()
    • ScalarNoiseModel.whiten_norm()
  • IsotropicNoiseModel
    • IsotropicNoiseModel.__init__()
    • IsotropicNoiseModel.from_variance()
    • IsotropicNoiseModel.from_sigma()
    • IsotropicNoiseModel.whiten_scalar()
  • DiagonalNoiseModel
    • DiagonalNoiseModel.__init__()
    • DiagonalNoiseModel.from_variances()
    • DiagonalNoiseModel.from_sigmas()
    • DiagonalNoiseModel.whiten()
  • PseudoHuberNoiseModel
    • PseudoHuberNoiseModel.__init__()
    • PseudoHuberNoiseModel.pseudo_huber_error()
    • PseudoHuberNoiseModel.whiten_scalar()
  • BarronNoiseModel
    • BarronNoiseModel.__init__()
    • BarronNoiseModel.compute_alpha_from_mu()
    • BarronNoiseModel.barron_error()
    • BarronNoiseModel.whiten_scalar()
• symforce.opt.numeric_factor module
  • NumericFactor
    • NumericFactor.__init__()
    • NumericFactor.from_file_python()
    • NumericFactor.linearize()
    • NumericFactor.cc_factor()
• symforce.opt.objective module
  • Objective
    • Objective.Params
    • Objective.default_inputs()
  • TimestepObjective
    • TimestepObjective.residual_at_timestep()
    • TimestepObjective.Params
• symforce.opt.optimization_problem module
  • OptimizationProblem
    • OptimizationProblem.__init__()
    • OptimizationProblem.subproblems
    • OptimizationProblem.inputs
    • OptimizationProblem.residual_blocks
    • OptimizationProblem.residuals
    • OptimizationProblem.extra_values
    • OptimizationProblem.split_residual_blocks()
    • OptimizationProblem.keys()
    • OptimizationProblem.optimized_keys()
    • OptimizationProblem.generate()
    • OptimizationProblem.make_symbolic_factors()
    • OptimizationProblem.make_numeric_factors()
  • build_inputs()
• symforce.opt.optimizer module
  • Optimizer
    • Optimizer.Params
      • Optimizer.Params.verbose
      • Optimizer.Params.initial_lambda
      • Optimizer.Params.lambda_up_factor
      • Optimizer.Params.lambda_down_factor
      • Optimizer.Params.lambda_lower_bound
      • Optimizer.Params.lambda_upper_bound
      • Optimizer.Params.use_diagonal_damping
      • Optimizer.Params.use_unit_damping
      • Optimizer.Params.keep_max_diagonal_damping
      • Optimizer.Params.diagonal_damping_min
      • Optimizer.Params.iterations
      • Optimizer.Params.early_exit_min_reduction
      • Optimizer.Params.enable_bold_updates
      • Optimizer.Params.__init__()
    • Optimizer.Result
      • Optimizer.Result.initial_values
      • Optimizer.Result.optimized_values
      • Optimizer.Result.iterations
      • Optimizer.Result.best_index
      • Optimizer.Result.early_exited
      • Optimizer.Result.best_linearization
      • Optimizer.Result.jacobian_sparsity
      • Optimizer.Result.linear_solver_ordering
      • Optimizer.Result.cholesky_factor_sparsity
      • Optimizer.Result.iteration_stats
      • Optimizer.Result.error()
      • Optimizer.Result.__init__()
    • Optimizer.__init__()
    • Optimizer.optimize()
    • Optimizer.linearize()
    • Optimizer.load_iteration_values()
    • Optimizer.linearization_index()
    • Optimizer.linearization_index_entry()
• symforce.opt.residual_block module
  • ResidualBlock
    • ResidualBlock.residual
    • ResidualBlock.extra_values
    • ResidualBlock.metadata
    • ResidualBlock.compute_jacobians()
    • ResidualBlock.set_metadata()
    • ResidualBlock.__init__()
  • ResidualBlockWithCustomJacobian
    • ResidualBlockWithCustomJacobian.custom_jacobians
    • ResidualBlockWithCustomJacobian.compute_jacobians()
    • ResidualBlockWithCustomJacobian.__init__()
• symforce.opt.sub_problem module
  • SubProblem
    • SubProblem.Inputs
    • SubProblem.inputs
    • SubProblem.__init__()
    • SubProblem.name
    • SubProblem.build_inputs()
    • SubProblem.build_residuals()
    • SubProblem.optimized_values()
• symforce.opt.timestep_sub_problem module
  • TimestepSubProblem
    • TimestepSubProblem.__init__()
    • TimestepSubProblem.timesteps
    • TimestepSubProblem.build_inputs()