UniformGaussNewtonModel.gradient#

t3toolbox.fitting.UniformGaussNewtonModel.gradient()#

def gradient(self) -> ut3m.UT3Tangent:  # g = Π 𝒥ᵀ r (+ g_R), a UT3Tangent at frame

The gradient g = geometry.project(𝒥ᵀ r) – gauged on the manifold, raw on corewise – plus the regularizer gradient g_R when set.