From e3aaeedbf2c05edb7fb86a95aa492ae2930cefc4 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Mon, 24 Sep 2012 21:05:37 +0000
Subject: [PATCH] update the optimize interface

---
 gtsam/linear/IterativeSolver.h  | 4 ++++
 gtsam/linear/SubgraphSolver.cpp | 5 +++++
 gtsam/linear/SubgraphSolver.h   | 1 +
 3 files changed, 10 insertions(+)

diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h
index 7946874bb..05741d763 100644
--- a/gtsam/linear/IterativeSolver.h
+++ b/gtsam/linear/IterativeSolver.h
@@ -68,6 +68,10 @@ namespace gtsam {
 
     /* interface to the nonlinear optimizer  */
     virtual VectorValues optimize () = 0;
+
+    /* interface to the nonlinear optimizer  */
+    virtual VectorValues optimize (const VectorValues &initial) = 0;
+
     /* update interface to the nonlinear optimizer  */
     virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {}
   };
diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp
index 9986fb76c..519192144 100644
--- a/gtsam/linear/SubgraphSolver.cpp
+++ b/gtsam/linear/SubgraphSolver.cpp
@@ -78,6 +78,11 @@ VectorValues SubgraphSolver::optimize() {
   return pc_->x(ybar);
 }
 
+VectorValues SubgraphSolver::optimize(const VectorValues &initial) {
+  // the initial is ignored in this case ...
+  return optimize();
+}
+
 void SubgraphSolver::initialize(const GaussianFactorGraph &jfg)
 {
   GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared<GaussianFactorGraph>(),
diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h
index fe968d486..e8d72c23b 100644
--- a/gtsam/linear/SubgraphSolver.h
+++ b/gtsam/linear/SubgraphSolver.h
@@ -72,6 +72,7 @@ public:
 
   virtual ~SubgraphSolver() {}
   virtual VectorValues optimize () ;
+  virtual VectorValues optimize (const VectorValues &initial) ;
 
 protected: