Merged in fix/416_iterate (pull request #428)

close issue #416
Add return argument for iterate

gtsam.h

@@ -2140,7 +2140,7 @@ virtual class NonlinearOptimizer {
   double error() const;
   int iterations() const;
   gtsam::Values values() const;
-  void iterate() const;
+  gtsam::GaussianFactorGraph* iterate() const;
 };
 
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>

gtsam/nonlinear/DoglegOptimizer.h

@@ -105,9 +105,9 @@ public:
   /** Virtual destructor */
   virtual ~DoglegOptimizer() {}
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   GaussianFactorGraph::shared_ptr iterate() override;
 

gtsam/nonlinear/GaussNewtonOptimizer.h

@@ -70,9 +70,9 @@ public:
   /** Virtual destructor */
   virtual ~GaussNewtonOptimizer() {}
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   GaussianFactorGraph::shared_ptr iterate() override;
 

gtsam/nonlinear/LevenbergMarquardtOptimizer.h

@@ -94,9 +94,9 @@ public:
   /// @name Advanced interface
   /// @{
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   GaussianFactorGraph::shared_ptr iterate() override;
 

gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h

@@ -70,7 +70,16 @@ public:
   virtual ~NonlinearConjugateGradientOptimizer() {
   }
 
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
+   */
   GaussianFactorGraph::shared_ptr iterate() override;
+
+  /** 
+   * Optimize for the maximum-likelihood estimate, returning a the optimized 
+   * variable assignments.
+   */
   const Values& optimize() override;
 };
 

gtsam/nonlinear/NonlinearOptimizer.h

@@ -86,9 +86,9 @@ public:
   /// @name Standard interface
   /// @{
 
-  /** Optimize for the maximum-likelihood estimate, returning a new
-   * NonlinearOptimizer class containing the optimized variable assignments,
-   * which may be retrieved with values().
+  /** 
+   * Optimize for the maximum-likelihood estimate, returning a the optimized 
+   * variable assignments.
    *
    * This function simply calls iterate() in a loop, checking for convergence
    * with check_convergence().  For fine-grain control over the optimization
@@ -126,9 +126,9 @@ public:
   virtual VectorValues solve(const GaussianFactorGraph &gfg,
       const NonlinearOptimizerParams& params) const;
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   virtual GaussianFactorGraph::shared_ptr iterate() = 0;
 

gtsampy.h

@@ -2045,7 +2045,7 @@ virtual class NonlinearOptimizer {
   double error() const;
   int iterations() const;
   gtsam::Values values() const;
-  void iterate() const;
+  gtsam::GaussianFactorGraph* iterate() const;
 };
 
 virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer {