[SymForce] More arguments passed through OptimizationProblem and Factor

GitOrigin-RevId: 762c17b53dba60f844525b6d55e53d3cb7c81e81

Author: nathan-skydio

symforce/opt/factor.py

@@ -147,7 +147,11 @@ def _initialize(
         self.name = self.codegen.name
 
     def generate(
-        self, optimized_keys: T.Sequence[str], output_dir: T.Openable = None, namespace: str = None
+        self,
+        optimized_keys: T.Sequence[str],
+        output_dir: T.Openable = None,
+        namespace: str = None,
+        sparse_linearization: bool = False,
     ) -> T.Dict[str, T.Any]:
         """
         Generates the code needed to construct a NumericFactor from this Factor.
@@ -170,6 +174,7 @@ def generate(
             custom_jacobian=self.custom_jacobian_func(optimized_keys)
             if self.custom_jacobian_func is not None
             else None,
+            sparse_linearization=sparse_linearization,
         )
 
         output_data = codegen_with_linearization.generate_function(

symforce/opt/optimization_problem.py

@@ -93,7 +93,14 @@ def optimized_keys(self) -> T.List[str]:
             for value in optimized_values
         ]
 
-    def generate(self, output_dir: T.Openable, namespace: str, name: str) -> None:
+    def generate(
+        self,
+        output_dir: T.Openable,
+        namespace: str,
+        name: str,
+        sparse_linearization: bool = False,
+        config: codegen_config.CppConfig = None,
+    ) -> None:
         """
         Generate everything needed to optimize `problem` in C++. This currently assumes there is
         only one factor generated for the optimization problem.
@@ -102,11 +109,21 @@ def generate(self, output_dir: T.Openable, namespace: str, name: str) -> None:
             output_dir: Directory in which to output the generated files.
             namespace: Namespace used in each generated file.
             name: Name of the generated factor.
+            sparse_linearization: Whether the generated factors should use sparse jacobians/hessians
+            config: C++ code configuration used with the linearization functions generated for each
+                factor.
         """
-        factors = self.make_symbolic_factors(name=name, config=codegen_config.CppConfig())
+        if config is None:
+            config = codegen_config.CppConfig()
+
+        # Generate the C++ code for the residual linearization function
+        factors = self.make_symbolic_factors(name=name, config=config)
         for factor in factors:
             output_data = factor.generate(
-                optimized_keys=self.optimized_keys(), output_dir=output_dir, namespace=namespace
+                optimized_keys=self.optimized_keys(),
+                output_dir=output_dir,
+                namespace=namespace,
+                sparse_linearization=sparse_linearization,
             )
             logger.info(
                 "Generated function `{}` in directory `{}`".format(