const correctness, moved optimizer to cpp
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				|  | @ -16,7 +16,7 @@ | |||
|  **/ | ||||
| 
 | ||||
| #include <gtsam/slam/planarSLAM.h> | ||||
| #include <gtsam/nonlinear/NonlinearFactorGraph.h> | ||||
| #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> | ||||
| 
 | ||||
| // Use planarSLAM namespace for specific SLAM instance
 | ||||
| namespace planarSLAM { | ||||
|  | @ -63,6 +63,11 @@ namespace planarSLAM { | |||
|   } | ||||
| 
 | ||||
|   /* ************************************************************************* */ | ||||
|   Values Graph::optimize(const Values& initialEstimate) const { | ||||
|     return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); | ||||
|   } | ||||
| 
 | ||||
|   /* ************************************************************************* */ | ||||
| 
 | ||||
| } // planarSLAM
 | ||||
| 
 | ||||
|  |  | |||
|  | @ -24,7 +24,6 @@ | |||
| #include <gtsam/slam/BearingRangeFactor.h> | ||||
| #include <gtsam/nonlinear/NonlinearEquality.h> | ||||
| #include <gtsam/nonlinear/NonlinearFactorGraph.h> | ||||
| #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> | ||||
| #include <gtsam/geometry/Pose2.h> | ||||
| 
 | ||||
| // Use planarSLAM namespace for specific SLAM instance
 | ||||
|  | @ -108,9 +107,7 @@ namespace planarSLAM { | |||
|     void addBearingRange(Index poseKey, Index pointKey, const Rot2& bearing, double range, const SharedNoiseModel& model); | ||||
| 
 | ||||
|     /// Optimize
 | ||||
|     Values optimize(const Values& initialEstimate) { | ||||
|       return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); | ||||
|     } | ||||
|     Values optimize(const Values& initialEstimate) const; | ||||
|   }; | ||||
| 
 | ||||
| } // planarSLAM
 | ||||
|  |  | |||
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