From 00023f0c6727e415e4d1e87ad5051161de907a26 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Wed, 1 Feb 2012 16:35:18 +0000
Subject: [PATCH] start to fix iterative solvers

---
 gtsam/linear/IterativeSolver.h    | 31 ++++++++++++++++++++++++++++---
 gtsam/linear/SubgraphSolver-inl.h |  2 +-
 gtsam/linear/SubgraphSolver.h     |  2 +-
 3 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h
index c7e7edeab..3be67789b 100644
--- a/gtsam/linear/IterativeSolver.h
+++ b/gtsam/linear/IterativeSolver.h
@@ -18,6 +18,8 @@
 
 #pragma once
 
+#include <gtsam/inference/VariableIndex.h>
+#include <gtsam/linear/VectorValues.h>
 #include <gtsam/linear/IterativeOptimizationParameters.h>
 
 namespace gtsam {
@@ -25,10 +27,29 @@ namespace gtsam {
 class IterativeSolver {
 
 public:
-	typedef IterativeOptimizationParameters Parameters;
-	typedef boost::shared_ptr<Parameters> sharedParameters;
 
-	sharedParameters parameters_ ;
+	typedef IterativeOptimizationParameters Parameters;
+	typedef Parameters::shared_ptr sharedParameters;
+
+protected:
+
+	GaussianFactorGraph::shared_ptr graph_;
+	VariableIndex::shared_ptr variableIndex_;
+	Parameters::shared_ptr parameters_ ;
+
+public:
+
+  IterativeSolver(
+    const GaussianFactorGraph::shared_ptr& factorGraph,
+    const VariableIndex::shared_ptr& variableIndex):
+    graph_(factorGraph), variableIndex_(variableIndex),
+    parameters_(new Parameters()) { }
+
+  IterativeSolver(
+    const GaussianFactorGraph::shared_ptr& factorGraph,
+    const VariableIndex::shared_ptr& variableIndex,
+    const Parameters::shared_ptr& parameters):
+    graph_(factorGraph), variableIndex_(variableIndex), parameters_(parameters) { }
 
 	IterativeSolver():
 		parameters_(new IterativeOptimizationParameters()) {}
@@ -41,6 +62,10 @@ public:
 
 	IterativeSolver(const sharedParameters parameters):
 		parameters_(parameters) {}
+
+	virtual ~IterativeSolver() {}
+
+	virtual VectorValues::shared_ptr optimize () = 0;
 };
 
 }
diff --git a/gtsam/linear/SubgraphSolver-inl.h b/gtsam/linear/SubgraphSolver-inl.h
index 6f7ad5f50..4aa12532e 100644
--- a/gtsam/linear/SubgraphSolver-inl.h
+++ b/gtsam/linear/SubgraphSolver-inl.h
@@ -48,7 +48,7 @@ void SubgraphSolver<GRAPH,LINEAR,VALUES>::replaceFactors(const typename LINEAR::
 }
 
 template<class GRAPH, class LINEAR, class VALUES>
-VectorValues::shared_ptr SubgraphSolver<GRAPH,LINEAR,VALUES>::optimize() const {
+VectorValues::shared_ptr SubgraphSolver<GRAPH,LINEAR,VALUES>::optimize() {
 
 	// preconditioned conjugate gradient
 	VectorValues zeros = pc_->zero();
diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h
index 539f102e6..9e0f0a9d7 100644
--- a/gtsam/linear/SubgraphSolver.h
+++ b/gtsam/linear/SubgraphSolver.h
@@ -85,7 +85,7 @@ public:
 				IterativeSolver(parameters), ordering_(ordering), pairs_(pairs), pc_(pc), useQR_(useQR) {}
 
 	void replaceFactors(const typename LINEAR::shared_ptr &graph);
-	VectorValues::shared_ptr optimize() const ;
+	VectorValues::shared_ptr optimize() ;
 	shared_ordering ordering() const { return ordering_; }
 
 protected: