From 75bd3dc52cb48126f84df1f7822f5b46278b8a69 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Mon, 21 Dec 2020 20:32:21 -0500
Subject: [PATCH] templating on params is still problematic

---
 gtsam/nonlinear/GaussNewtonOptimizer.h     |  2 ++
 gtsam/nonlinear/GncOptimizer.h             | 14 ++++++++++----
 gtsam/nonlinear/LevenbergMarquardtParams.h |  3 +++
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h
index a436597e5..3ef4dfdeb 100644
--- a/gtsam/nonlinear/GaussNewtonOptimizer.h
+++ b/gtsam/nonlinear/GaussNewtonOptimizer.h
@@ -28,6 +28,8 @@ class GaussNewtonOptimizer;
  * NonlinearOptimizationParams.
  */
 class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams {
+public:
+  typedef GaussNewtonOptimizer OptimizerType;
 };
 
 /**
diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index 811487779..730c1aa43 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -36,6 +36,9 @@ namespace gtsam {
 template<class BaseOptimizerParameters>
 class GncParams {
 public:
+  //typedef BaseOptimizerParameters::OptimizerType GncOptimizerType;
+  typedef BaseOptimizerParameters::OptimizerType OptimizerType;
+
   /** Verbosity levels */
   enum VerbosityGNC {
     SILENT = 0, SUMMARY, VALUES
@@ -46,8 +49,6 @@ public:
     GM /*Geman McClure*/, TLS /*Truncated least squares*/
   };
 
-  using BaseOptimizer = GaussNewtonOptimizer; // BaseOptimizerParameters::OptimizerType;
-
   /// Constructor
   GncParams(const BaseOptimizerParameters& baseOptimizerParams) :
       baseOptimizerParams(baseOptimizerParams) {
@@ -145,6 +146,11 @@ template<class GncParameters>
 class GncOptimizer {
 public:
   // types etc
+//  typedef BaseOptimizerParameters::OptimizerType GncOptimizerType;
+ // typedef GncParameters::BaseOptimizerParameters::OptimizerType BaseOptimizer; //
+  //typedef BaseOptimizerParameters::OptimizerType BaseOptimizer;
+  //typedef GaussNewtonOptimizer BaseOptimizer;
+  typedef GncParameters::OptimizerType BaseOptimizer;
 
 private:
   NonlinearFactorGraph nfg_;
@@ -198,7 +204,7 @@ public:
   Values optimize() {
     // start by assuming all measurements are inliers
     weights_ = Vector::Ones(nfg_.size());
-    GaussNewtonOptimizer baseOptimizer(nfg_, state_);
+    BaseOptimizer baseOptimizer(nfg_, state_);
     Values result = baseOptimizer.optimize();
     double mu = initializeMu();
     double mu_prev = mu;
@@ -229,7 +235,7 @@ public:
 
       // variable/values update
       NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_);
-      GaussNewtonOptimizer baseOptimizer_iter(graph_iter, state_);
+      BaseOptimizer baseOptimizer_iter(graph_iter, state_);
       result = baseOptimizer_iter.optimize();
 
       // update mu
diff --git a/gtsam/nonlinear/LevenbergMarquardtParams.h b/gtsam/nonlinear/LevenbergMarquardtParams.h
index 4962ad366..20a8eb4c1 100644
--- a/gtsam/nonlinear/LevenbergMarquardtParams.h
+++ b/gtsam/nonlinear/LevenbergMarquardtParams.h
@@ -25,6 +25,8 @@
 
 namespace gtsam {
 
+class LevenbergMarquardtOptimizer;
+
 /** Parameters for Levenberg-Marquardt optimization.  Note that this parameters
  * class inherits from NonlinearOptimizerParams, which specifies the parameters
  * common to all nonlinear optimization algorithms.  This class also contains
@@ -40,6 +42,7 @@ public:
 
   static VerbosityLM verbosityLMTranslator(const std::string &s);
   static std::string verbosityLMTranslator(VerbosityLM value);
+  typedef LevenbergMarquardtOptimizer OptimizerType;
 
 public: