From 0d38db39410941f6c4e0181a5161e2587fcf8524 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Fri, 13 Jan 2023 10:26:05 -0800
Subject: [PATCH] iterative solver

---
 gtsam/linear/IterativeSolver.cpp | 3 +--
 gtsam/linear/IterativeSolver.h   | 4 ++--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp
index c5007206d..5adb1916a 100644
--- a/gtsam/linear/IterativeSolver.cpp
+++ b/gtsam/linear/IterativeSolver.cpp
@@ -84,8 +84,7 @@ string IterativeOptimizationParameters::verbosityTranslator(
 
 /*****************************************************************************/
 VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg,
-    boost::optional<const KeyInfo&> keyInfo,
-    boost::optional<const std::map<Key, Vector>&> lambda) {
+    const KeyInfo* keyInfo, const std::map<Key, Vector>* lambda) {
   return optimize(gfg, keyInfo ? *keyInfo : KeyInfo(gfg),
       lambda ? *lambda : std::map<Key, Vector>());
 }
diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h
index 758d2aec9..cd3f41659 100644
--- a/gtsam/linear/IterativeSolver.h
+++ b/gtsam/linear/IterativeSolver.h
@@ -93,8 +93,8 @@ public:
 
   /* interface to the nonlinear optimizer, without metadata, damping and initial estimate */
   GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg,
-      boost::optional<const KeyInfo&> = boost::none,
-      boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
+      const KeyInfo* = nullptr,
+      const std::map<Key, Vector>* lambda = nullptr);
 
   /* interface to the nonlinear optimizer, without initial estimate */
   GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo,