Add docs from pypose/pypose

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docs/preview/pr/378/_modules/pypose/optim/optimizer/index.html

@@ -853,6 +853,7 @@ <h1>Source code for pypose.optim.optimizer</h1><div class="highlight"><pre>
 
     <span class="k">def</span><span class="w"> </span><span class="nf">_step_sparse</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="nb">input</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">weight</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
         <span class="c1"># Note: sparse mode currently assumes a single residual and does not support weights.</span>
+        <span class="k">assert</span> <span class="n">weight</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">,</span> <span class="s2">&quot;Weight is not supported in sparse mode for now.&quot;</span>
         <span class="k">for</span> <span class="n">pg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">param_groups</span><span class="p">:</span>
             <span class="c1"># weight is not used in sparse mode for now.</span>
             <span class="c1"># weight = self.weight if weight is None else weight</span>
@@ -887,7 +888,6 @@ <h1>Source code for pypose.optim.optimizer</h1><div class="highlight"><pre>
                     <span class="k">break</span>
                 <span class="bp">self</span><span class="o">.</span><span class="n">update_parameter</span><span class="p">(</span><span class="n">pg</span><span class="p">[</span><span class="s1">&#39;params&#39;</span><span class="p">],</span> <span class="n">D</span><span class="p">)</span>
                 <span class="bp">self</span><span class="o">.</span><span class="n">loss</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">model</span><span class="o">.</span><span class="n">loss</span><span class="p">(</span><span class="nb">input</span><span class="p">,</span> <span class="n">target</span><span class="p">)</span>
-                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Loss:&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">loss</span><span class="p">,</span> <span class="s2">&quot;Last Loss:&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">last</span><span class="p">,</span> <span class="s2">&quot;Reject Count:&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reject_count</span><span class="p">,</span> <span class="s2">&quot;Damping:&quot;</span><span class="p">,</span> <span class="n">pg</span><span class="p">[</span><span class="s1">&#39;damping&#39;</span><span class="p">])</span>
                 <span class="bp">self</span><span class="o">.</span><span class="n">strategy</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">pg</span><span class="p">,</span> <span class="n">last</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">last</span><span class="p">,</span> <span class="n">loss</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">loss</span><span class="p">,</span> <span class="n">J</span><span class="o">=</span><span class="n">J</span><span class="p">,</span> <span class="n">D</span><span class="o">=</span><span class="n">D</span><span class="p">,</span> <span class="n">R</span><span class="o">=</span><span class="n">R</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
                 <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">last</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">loss</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">reject_count</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">reject</span><span class="p">:</span>  <span class="c1"># reject step</span>
                     <span class="bp">self</span><span class="o">.</span><span class="n">update_parameter</span><span class="p">(</span><span class="n">params</span><span class="o">=</span><span class="n">pg</span><span class="p">[</span><span class="s1">&#39;params&#39;</span><span class="p">],</span> <span class="n">step</span><span class="o">=-</span><span class="n">D</span><span class="p">)</span>