From b0c91d2fcf8bd8e315082ba6769be4da2f5ca340 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Sun, 27 May 2012 18:26:25 +0000
Subject: [PATCH]

---
 gtsam/nonlinear/DoglegOptimizer.cpp           |  2 +-
 gtsam/nonlinear/GaussNewtonOptimizer.cpp      |  2 +-
 .../nonlinear/LevenbergMarquardtOptimizer.cpp |  2 +-
 .../SuccessiveLinearizationOptimizer.h        | 24 +++++++++++++++----
 4 files changed, 22 insertions(+), 8 deletions(-)

diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp
index 91b3c92fd..3edb35a76 100644
--- a/gtsam/nonlinear/DoglegOptimizer.cpp
+++ b/gtsam/nonlinear/DoglegOptimizer.cpp
@@ -48,7 +48,7 @@ void DoglegOptimizer::iterate(void) {
     GaussianBayesNet::shared_ptr bn = EliminationTree<GaussianFactor>::Create(*linear)->eliminate(params_.getEliminationFunction());
     result = DoglegOptimizerImpl::Iterate(state_.Delta, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *bn, graph_, state_.values, ordering, state_.error, dlVerbose);
   }
-  else if ( params_.isSPCG() ) {
+  else if ( params_.isCG() ) {
     throw runtime_error("todo: ");
   }
   else {
diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp
index 8d09b3edc..c81369299 100644
--- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp
+++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp
@@ -41,7 +41,7 @@ void GaussNewtonOptimizer::iterate() {
     else if ( params_.isSequential() ) {
       delta = gtsam::optimize(*EliminationTree<GaussianFactor>::Create(*linear)->eliminate(params_.getEliminationFunction()));
     }
-    else if ( params_.isSPCG() ) {
+    else if ( params_.isCG() ) {
       throw runtime_error("todo: ");
     }
     else {
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 3ad26cb3a..f1f5ab1df 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -70,7 +70,7 @@ void LevenbergMarquardtOptimizer::iterate() {
       else if ( params_.isSequential() ) {
         delta = gtsam::optimize(*EliminationTree<GaussianFactor>::Create(dampedSystem)->eliminate(params_.getEliminationFunction()));
       }
-      else if ( params_.isSPCG() ) {
+      else if ( params_.isCG() ) {
         throw runtime_error("todo: ");
       }
       else {
diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
index 2b3bfd3b6..387a550db 100644
--- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
+++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
@@ -19,6 +19,7 @@
 #pragma once
 
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/linear/IterativeOptimizationParameters.h>
 
 namespace gtsam {
 
@@ -30,11 +31,14 @@ public:
     MULTIFRONTAL_QR,
     SEQUENTIAL_CHOLESKY,
     SEQUENTIAL_QR,
-    SPCG
+    CHOLMOD,    /* Experimental Flag */
+    PCG,        /* Experimental Flag */
+    LSPCG       /* Experimental Flag */
   };
 
 	LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer
   boost::optional<Ordering> ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty)
+  boost::optional<IterativeOptimizationParameters::shared_ptr> iterativeParams; ///< The container for iterativeOptimization parameters.
 
   SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {}
 
@@ -55,8 +59,14 @@ public:
     case SEQUENTIAL_QR:
       std::cout << "         linear solver type: SEQUENTIAL QR\n";
       break;
-    case SPCG:
-      std::cout << "         linear solver type: SPCG\n";
+    case CHOLMOD:
+      std::cout << "         linear solver type: CHOLMOD\n";
+      break;
+    case PCG:
+      std::cout << "         linear solver type: PCG\n";
+      break;
+    case LSPCG:
+      std::cout << "         linear solver type: LSPCG\n";
       break;
     default:
       std::cout << "         linear solver type: (invalid)\n";
@@ -79,8 +89,12 @@ public:
     return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR);
   }
 
-  inline bool isSPCG() const {
-    return (linearSolverType == SPCG);
+  inline bool isCholmod() const {
+    return (linearSolverType == CHOLMOD);
+  }
+
+  inline bool isCG() const {
+    return (linearSolverType == PCG || linearSolverType == LSPCG);
   }
 
   GaussianFactorGraph::Eliminate getEliminationFunction() {