From ff40590fc3dbf9963730fe4bdceda06d12914d71 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Fri, 27 Nov 2020 12:59:27 -0500
Subject: [PATCH] added equals in NonlinearOptimizerParams

---
 gtsam/nonlinear/NonlinearOptimizerParams.h | 11 +++++++++++
 tests/testNonlinearOptimizer.cpp           | 13 +++++++++++++
 2 files changed, 24 insertions(+)

diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h
index a7bc10a1f..218230421 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.h
+++ b/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);
diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index 6415174d5..295721cc4 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/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 )
 {