navlie
Main interface for nonlinear least squares problems.
Allows for the construction of nonlinear least squares problem by adding arbitrary residual terms, and allows for solving these using either Gauss-Newton or Levenberg Marquardt.
This code is inspired by utiasSTARTS pySLAM repo (https://github.com/utiasSTARS/pyslam), as well as Ceres.
Classes
OptimizationSummary(size_state, size_error, ...)
OptimizationSummary
Class to store a summary of the optimization problem.
Problem([solver, max_iters, step_tol, ftol, ...])
Problem
Main class for building nonlinear least squares problems.
previous
navlie.batch.losses.LossFunction
next
navlie.batch.problem.OptimizationSummary