graphix

Vertex graphs and factor graphs, built for spatial work.

Shortest paths, spanning trees, and centrality sit next to SE2 pose-graph optimization with robust loss functions and a choice of Gauss-Newton, Levenberg-Marquardt, or gradient descent. Nearest-neighbor queries and k-NN graph construction are built in rather than left to a separate crate, because most of what calls into graphix needs both a graph and a spatial index at once.