GaussNewtonOptimizer.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/nonlinear/NonlinearOptimizer.h>

namespace gtsam {

class GaussNewtonOptimizer;

class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams {
};

class GTSAM_EXPORT GaussNewtonState : public NonlinearOptimizerState {
protected:
  GaussNewtonState(const NonlinearFactorGraph& graph, const Values& values, unsigned int iterations = 0) :
    NonlinearOptimizerState(graph, values, iterations) {}

  friend class GaussNewtonOptimizer;
};

class GTSAM_EXPORT GaussNewtonOptimizer : public NonlinearOptimizer {

protected:
  GaussNewtonParams params_;
  GaussNewtonState state_;

public:

  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
      const GaussNewtonParams& params = GaussNewtonParams()) :
        NonlinearOptimizer(graph), params_(ensureHasOrdering(params, graph)), state_(graph, initialValues) {}

  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, const Ordering& ordering) :
        NonlinearOptimizer(graph), state_(graph, initialValues) {
    params_.ordering = ordering; }



  virtual ~GaussNewtonOptimizer() {}

  virtual void iterate();

  const GaussNewtonParams& params() const { return params_; }

  GaussNewtonParams& params() { return params_; }

  const GaussNewtonState& state() const { return state_; }

  GaussNewtonState& state() { return state_; }


protected:
  virtual const NonlinearOptimizerParams& _params() const { return params_; }

  virtual const NonlinearOptimizerState& _state() const { return state_; }

  GaussNewtonParams ensureHasOrdering(GaussNewtonParams params, const NonlinearFactorGraph& graph) const;

};

}