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;

};

}