added equals in NonlinearOptimizerParams

gtsam/nonlinear/NonlinearOptimizerParams.h

@@ -113,6 +113,17 @@ public:
 
   virtual void print(const std::string& str = "") const;
 
+  bool equals(const NonlinearOptimizerParams& other, double tol = 1e-9) const {
+    return maxIterations == other.getMaxIterations()
+        && std::abs(relativeErrorTol - other.getRelativeErrorTol()) <= tol
+        && std::abs(absoluteErrorTol - other.getAbsoluteErrorTol()) <= tol
+        && std::abs(errorTol - other.getErrorTol()) <= tol
+        && verbosityTranslator(verbosity) == other.getVerbosity();
+    //  && orderingType.equals(other.getOrderingType()_;
+    // && linearSolverType == other.getLinearSolverType();
+    // TODO: check ordering, iterativeParams, and iterationsHook
+  }
+
   inline bool isMultifrontal() const {
     return (linearSolverType == MULTIFRONTAL_CHOLESKY)
         || (linearSolverType == MULTIFRONTAL_QR);

tests/testNonlinearOptimizer.cpp

@@ -48,6 +48,19 @@ const double tol = 1e-5;
 using symbol_shorthand::X;
 using symbol_shorthand::L;
 
+/* ************************************************************************* */
+TEST( NonlinearOptimizer, paramsEquals )
+{
+  // default constructors lead to two identical params
+  GaussNewtonParams gnParams1;
+  GaussNewtonParams gnParams2;
+  CHECK(gnParams1.equals(gnParams2));
+
+  // but the params become different if we change something in gnParams2
+  gnParams2.setVerbosity("DELTA");
+  CHECK(!gnParams1.equals(gnParams2));
+}
+
 /* ************************************************************************* */
 TEST( NonlinearOptimizer, iterateLM )
 {