GaussNewtonOptimizer.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/nonlinear/NonlinearOptimizer.h>
 
namespace gtsam {
 
class GaussNewtonOptimizer;

class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams {
public:
  using OptimizerType = GaussNewtonOptimizer;
};

class GTSAM_EXPORT GaussNewtonOptimizer : public NonlinearOptimizer {
 
protected:
  GaussNewtonParams params_;
 
public:

 GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
                      const GaussNewtonParams& params = GaussNewtonParams());

  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
                       const Ordering& ordering);


  ~GaussNewtonOptimizer() override {}

  GaussianFactorGraph::shared_ptr iterate() override;

  const GaussNewtonParams& params() const { return params_; }

 
protected:
  const NonlinearOptimizerParams& _params() const override { return params_; }

  GaussNewtonParams ensureHasOrdering(GaussNewtonParams params, const NonlinearFactorGraph& graph) const;
 
};
 
}