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remove Dogleg from GNC-supported base-optimizers, and use nested templates

release/4.3a0
John Lambert 2021-08-12 06:44:01 -04:00 committed by GitHub
parent c9bcb1430c
commit 9b05390ccb
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 2 deletions
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5
gtsam/nonlinear/nonlinear.i
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@ -523,7 +523,7 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
}; };
#include <gtsam/nonlinear/GncParams.h> #include <gtsam/nonlinear/GncParams.h>
template<PARAMS = {gtsam::DoglegParams, gtsam::GaussNewtonParams, gtsam::LevenbergMarquardtParams}> template<PARAMS = {gtsam::GaussNewtonParams, gtsam::LevenbergMarquardtParams}>
class GncParams { class GncParams {
GncParams(const PARAMS& baseOptimizerParams); GncParams(const PARAMS& baseOptimizerParams);
GncParams(); GncParams();
@ -561,7 +561,8 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
}; };
#include <gtsam/nonlinear/GncOptimizer.h> #include <gtsam/nonlinear/GncOptimizer.h>
template<PARAMS = {gtsam::GncParameters}> template<PARAMS = {gtsam::GncParams<gtsam::GaussNewtonParams>,
gtsam::GncParams<gtsam::LevenbergMarquardtParams>}>
class GncOptimizer { class GncOptimizer {
GncOptimizer(const gtsam::NonlinearFactorGraph& graph, GncOptimizer(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& initialValues, const gtsam::Values& initialValues,