Construct x-axis translation.

Construct y-axis translation.

return the diameter of the trust region

return the lambda set by the user, if < 0 the SparseOptimizer will compute the initial lambda

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding 3-vector representation of Lie algebra. This is the i

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding vector representation of Lie algebra. This is the inv

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding 4-vector representation of Lie algebra. This is the i

vee-operator It takes the 4x4-matrix representation ``Omega`` and maps it to the corresponding 7-vector representation of Lie algebra. This is the i

vee-operator It takes the 2x2-matrix representation ``Omega`` and maps it to the corresponding scalar representation of Lie algebra. This is the inv

vee-operator It takes the 2x2-matrix representation ``Omega`` and maps it to the corresponding vector representation of Lie algebra. This is the inv

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding vector representation of Lie algebra. This is the inv

R^4x4 => R^6

verbose information during optimization

returns the vertex number <i>id</i> appropriately casted

returns the pointer to the ith vertex connected to the hyper-edge. */

write a debug dump of the system matrix if it is not PSD in solve

write a debug dump of the system matrix if it is not SPD in solve