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finally fixed the typedef

release/4.3a0
lcarlone 2020-12-21 21:06:25 -05:00
parent 75bd3dc52c
commit 7efd5cc368
1 changed files with 4 additions and 8 deletions
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12
gtsam/nonlinear/GncOptimizer.h
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@ -36,8 +36,8 @@ namespace gtsam {
template<class BaseOptimizerParameters> template<class BaseOptimizerParameters>
class GncParams { class GncParams {
public: public:
//typedef BaseOptimizerParameters::OptimizerType GncOptimizerType; /** For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer */
typedef BaseOptimizerParameters::OptimizerType OptimizerType; typedef typename BaseOptimizerParameters::OptimizerType OptimizerType;
/** Verbosity levels */ /** Verbosity levels */
enum VerbosityGNC { enum VerbosityGNC {
@ -145,12 +145,8 @@ public:
template<class GncParameters> template<class GncParameters>
class GncOptimizer { class GncOptimizer {
public: public:
// types etc /** For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer */
// typedef BaseOptimizerParameters::OptimizerType GncOptimizerType; typedef typename GncParameters::OptimizerType BaseOptimizer;
// typedef GncParameters::BaseOptimizerParameters::OptimizerType BaseOptimizer; //
//typedef BaseOptimizerParameters::OptimizerType BaseOptimizer;
//typedef GaussNewtonOptimizer BaseOptimizer;
typedef GncParameters::OptimizerType BaseOptimizer;
private: private:
NonlinearFactorGraph nfg_; NonlinearFactorGraph nfg_;