From 9b05390ccba3f17c12c9f738bd8766b07e92ed28 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Thu, 12 Aug 2021 06:44:01 -0400
Subject: [PATCH] remove Dogleg from GNC-supported base-optimizers, and use
 nested templates

---
 gtsam/nonlinear/nonlinear.i | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 97b8d2c23..7c81f04f2 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -523,7 +523,7 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
 };
 
 #include <gtsam/nonlinear/GncParams.h>
-template<PARAMS = {gtsam::DoglegParams, gtsam::GaussNewtonParams, gtsam::LevenbergMarquardtParams}>
+template<PARAMS = {gtsam::GaussNewtonParams, gtsam::LevenbergMarquardtParams}>
 class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
@@ -561,7 +561,8 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
 };
   
 #include <gtsam/nonlinear/GncOptimizer.h>
-template<PARAMS = {gtsam::GncParameters}>
+template<PARAMS = {gtsam::GncParams<gtsam::GaussNewtonParams>,
+                   gtsam::GncParams<gtsam::LevenbergMarquardtParams>}>
 class GncOptimizer {
   GncOptimizer(const gtsam::NonlinearFactorGraph& graph,
                const gtsam::Values& initialValues,