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Guide
Basics
Tips and gotchas
Advanced
Non-Euclidean variables
Custom Jacobians
Constraints
Robust costs
Covariance estimation
Examples
Mechanics
Spring equilibrium
Cloth draping
Truss analysis
Vision
Camera calibration
SE(2) pose graph
SE(3) pose graph
Bundle adjustment
SMPL-H shape fitting
Robotics
Inverse kinematics
Obstacle avoidance
Cart-pole (collocation)
Cart-pole (shooting)
Cam profile optimization
IMU fusion + calibration
Portfolio optimization
Mean-variance allocation
Manifold allocation
Reparameterized allocation
CVaR allocation
Black-Litterman allocation
API Reference
Core API
Lie group variables
Solver configuration
Covariance Estimation
Design Notes
Typed API
Sparse matrices
Schur complement elimination
What’s traced?
Repository
Open issue
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.pdf
Vision
Vision
#
Camera calibration
SE(2) pose graph
SE(3) pose graph
Bundle adjustment
SMPL-H shape fitting