BatchLeastSquaresBuilder

nyx_space::od::blse

Struct BatchLeastSquaresBuilder 

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pub struct BatchLeastSquaresBuilder<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, TypedBuilderFields = ((), (), (), (), (), (), (), (), (), (), (), (), (), ())>
where
    D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>,
    <D::StateType as State>::Size: DimName,
    <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send,
    <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy,
    <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy,
    DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,
{ /* private fields */ }
Expand description

Builder for BatchLeastSquares instances.

See BatchLeastSquares::builder() for more info.

Implementations§

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, ((), __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn prop( self, prop: Propagator<D>, ) -> BatchLeastSquaresBuilder<D, Trk, ((Propagator<D>,), __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Propagator used for the estimation reference trajectory

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, (), __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn devices( self, devices: BTreeMap<String, Trk>, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, (BTreeMap<String, Trk>,), __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Tracking devices

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, (), __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn solver( self, solver: BLSSolver, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, (BLSSolver,), __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Solver method

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, (), __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn tolerance_pos_km( self, tolerance_pos_km: f64, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, (f64,), __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Convergence tolerance on the norm of the correction on position, in kilometers

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, (), __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn max_iterations( self, max_iterations: usize, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, (usize,), __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Maximum number of iterations

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, (), __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn max_step( self, max_step: Duration, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, (Duration,), __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Maximum step size where the STM linearization is assumed correct (30 seconds is usually fine, but too large and info matrix could be singular)

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, (), __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn epoch_precision( self, epoch_precision: Duration, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, (Duration,), __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Precision of the measurement epoch when processing measurements.

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, (), __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn lm_lambda_init( self, lm_lambda_init: f64, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, (f64,), __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Initial damping factor for Levenberg-Marquardt

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, (), __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn lm_lambda_decrease( self, lm_lambda_decrease: f64, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, (f64,), __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Factor to decrease lambda by in LM

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, (), __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn lm_lambda_increase( self, lm_lambda_increase: f64, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, (f64,), __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Factor to increase lambda by in LM

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_max, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, (), __lm_lambda_max, __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn lm_lambda_min( self, lm_lambda_min: f64, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, (f64,), __lm_lambda_max, __lm_use_diag_scaling, __almanac)>

Minimum value for LM lambda

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_use_diag_scaling, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, (), __lm_use_diag_scaling, __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn lm_lambda_max( self, lm_lambda_max: f64, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, (f64,), __lm_use_diag_scaling, __almanac)>

Maximum value for LM lambda

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __almanac> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, (), __almanac)>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn lm_use_diag_scaling( self, lm_use_diag_scaling: bool, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, (bool,), __almanac)>

Use diagonal scaling (D = sqrt(diag(H^T W H))) in LM

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, ())>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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pub fn almanac( self, almanac: Arc<Almanac>, ) -> BatchLeastSquaresBuilder<D, Trk, (__prop, __devices, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, (Arc<Almanac>,))>

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling> BatchLeastSquaresBuilder<D, Trk, ((Propagator<D>,), (BTreeMap<String, Trk>,), __solver, __tolerance_pos_km, __max_iterations, __max_step, __epoch_precision, __lm_lambda_init, __lm_lambda_decrease, __lm_lambda_increase, __lm_lambda_min, __lm_lambda_max, __lm_use_diag_scaling, (Arc<Almanac>,))>
where D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>, BatchLeastSquares<D, Trk>: for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, __solver), Output = BLSSolver> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, __tolerance_pos_km), Output = f64> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, __max_iterations), Output = usize> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, __max_step), Output = Duration> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, __epoch_precision), Output = Duration> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default Duration, __lm_lambda_init), Output = f64> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default f64, __lm_lambda_decrease), Output = f64> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, __lm_lambda_increase), Output = f64> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, __lm_lambda_min), Output = f64> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, __lm_lambda_max), Output = f64> + for<'__typed_builder_lifetime_for_default> NextFieldDefault<(&'__typed_builder_lifetime_for_default Propagator<D>, &'__typed_builder_lifetime_for_default BTreeMap<String, Trk>, &'__typed_builder_lifetime_for_default BLSSolver, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default usize, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default Duration, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, &'__typed_builder_lifetime_for_default f64, __lm_use_diag_scaling), Output = bool>,

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pub fn build(self) -> BatchLeastSquares<D, Trk>

Finalise the builder and create its BatchLeastSquares instance

Trait Implementations§

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impl<D: Dynamics, Trk: TrackerSensitivity<D::StateType, D::StateType>, TypedBuilderFields> Clone for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where TypedBuilderFields: Clone, D::StateType: Interpolatable + Add<OVector<f64, <D::StateType as State>::Size>, Output = D::StateType>, <D::StateType as State>::Size: DimName, <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send, <DefaultAllocator as Allocator<<D::StateType as State>::Size>>::Buffer<f64>: Copy, <DefaultAllocator as Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>>::Buffer<f64>: Copy, DefaultAllocator: Allocator<<D::StateType as State>::Size> + Allocator<<D::StateType as State>::VecLength> + Allocator<U1> + Allocator<U1, <D::StateType as State>::Size> + Allocator<<D::StateType as State>::Size, U1> + Allocator<U1, U1> + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>,

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fn clone(&self) -> Self

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl<D, Trk, TypedBuilderFields> Freeze for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where DefaultAllocator: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size, <<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <<D as Dynamics>::StateType as State>::Size: Sized, <D as Dynamics>::StateType: Sized, TypedBuilderFields: Freeze,

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impl<D, Trk, TypedBuilderFields> RefUnwindSafe for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where DefaultAllocator: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size, <<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <<D as Dynamics>::StateType as State>::Size: Sized, <D as Dynamics>::StateType: Sized, TypedBuilderFields: RefUnwindSafe, D: RefUnwindSafe, Trk: RefUnwindSafe,

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impl<D, Trk, TypedBuilderFields> Send for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where DefaultAllocator: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size, <<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <<D as Dynamics>::StateType as State>::Size: Sized, <D as Dynamics>::StateType: Sized, TypedBuilderFields: Send, Trk: Send,

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impl<D, Trk, TypedBuilderFields> Sync for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where DefaultAllocator: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size, <<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <<D as Dynamics>::StateType as State>::Size: Sized, <D as Dynamics>::StateType: Sized, TypedBuilderFields: Sync, Trk: Sync,

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impl<D, Trk, TypedBuilderFields> Unpin for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where DefaultAllocator: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size, <<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <<D as Dynamics>::StateType as State>::Size: Sized, <D as Dynamics>::StateType: Sized, TypedBuilderFields: Unpin, D: Unpin, Trk: Unpin,

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impl<D, Trk, TypedBuilderFields> UnwindSafe for BatchLeastSquaresBuilder<D, Trk, TypedBuilderFields>
where DefaultAllocator: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size, <<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <DefaultAllocator as Allocator<<<D as Dynamics>::StateType as State>::Size>>::Buffer<f64>: Sized, <<D as Dynamics>::StateType as State>::Size: Sized, <D as Dynamics>::StateType: Sized, TypedBuilderFields: UnwindSafe, D: UnwindSafe, Trk: UnwindSafe,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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