From 1edcc8a53b0889eb4d399a7395ab13914cafb7a6 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Mon, 18 Jun 2012 04:31:11 +0000
Subject: [PATCH] adapt old implementations to the latest function templates
 reorg partial elimination + pcg solvers a new unit test for pcg solvers use
 python.psutil to inspect peak memory usage

---
 gtsam/linear/IterativeSolver.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h
index 6030f7be6..8292b3831 100644
--- a/gtsam/linear/IterativeSolver.h
+++ b/gtsam/linear/IterativeSolver.h
@@ -11,6 +11,7 @@
 
 #pragma once
 
+#include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/VectorValues.h>
 
 namespace gtsam {
@@ -50,8 +51,12 @@ namespace gtsam {
 
   class IterativeSolver {
   public:
+    typedef boost::shared_ptr<IterativeSolver> shared_ptr;
     IterativeSolver(){}
     virtual ~IterativeSolver() {}
+
+    /* update interface to the nonlinear optimizer  */
+    virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {}
     virtual VectorValues optimize () = 0;
   };