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iterative solver

release/4.3a0
kartik arcot 2023-01-13 10:26:05 -08:00
parent 544af1f03a
commit 0d38db3941
2 changed files with 3 additions and 4 deletions
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3
gtsam/linear/IterativeSolver.cpp
View File

@ -84,8 +84,7 @@ string IterativeOptimizationParameters::verbosityTranslator(
/*****************************************************************************/
VectorValues IterativeSolver::optimize(const GaussianFactorGraph &gfg,
boost::optional<const KeyInfo&> keyInfo,
boost::optional<const std::map<Key, Vector>&> lambda) {
const KeyInfo* keyInfo, const std::map<Key, Vector>* lambda) {
return optimize(gfg, keyInfo ? *keyInfo : KeyInfo(gfg),
lambda ? *lambda : std::map<Key, Vector>());
}

4
gtsam/linear/IterativeSolver.h
View File

@ -93,8 +93,8 @@ public:
/* interface to the nonlinear optimizer, without metadata, damping and initial estimate */
GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg,
boost::optional<const KeyInfo&> = boost::none,
boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
const KeyInfo* = nullptr,
const std::map<Key, Vector>* lambda = nullptr);
/* interface to the nonlinear optimizer, without initial estimate */
GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo,