diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i index a22b31023..d2047b798 100644 --- a/gtsam/nonlinear/nonlinear.i +++ b/gtsam/nonlinear/nonlinear.i @@ -523,12 +523,15 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams { }; #include -template +template virtual class GncParams { GncParams(const PARAMS& baseOptimizerParams); GncParams(); void print(const string& str) const; }; + +typedef GncParams GncGaussNewtonParams; +typedef GncParams GncLMParams; #include virtual class NonlinearOptimizer { @@ -561,8 +564,7 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer { }; #include -template, - gtsam::GncParams}> +template virtual class GncOptimizer { GncOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, @@ -570,6 +572,9 @@ virtual class GncOptimizer { gtsam::Values optimize(); }; +typedef gtsam::GncOptimizer > GncGaussNewtonOptimizer; +typedef gtsam::GncOptimizer > GncLMOptimizer; + #include virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph,