gtsam::GncIterationTiming Struct Reference

Detailed Description

Timing of one GNC outer iteration (all in seconds).

Public Attributes
double	weightsUpdateElapsed = 0.0
	calculateWeights (per-factor errors)
double	makeGraphElapsed = 0.0
	makeWeightedGraph (factor cloning)
double	baseOptimizeElapsed = 0.0
	inner optimizer construction + optimize()
double	costEvaluationElapsed = 0.0
	weighted graph error for convergence check
double	totalElapsed = 0.0

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The documentation for this struct was generated from the following file:

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/GncOptimizer.h