From a94169a973e42d77c752d4d4bcf8f2ffd56d8693 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 15 Oct 2024 09:59:16 -0400
Subject: [PATCH] remove unnecessary typedefs

---
 .../NonlinearConjugateGradientOptimizer.cpp   | 24 ++++++++++---------
 .../NonlinearConjugateGradientOptimizer.h     | 21 ++++++++--------
 2 files changed, 23 insertions(+), 22 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp
index 0b1a43815..403c72908 100644
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp
@@ -42,24 +42,26 @@ static VectorValues gradientInPlace(const NonlinearFactorGraph &nfg,
 }
 
 NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer(
-    const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params)
-    : Base(graph, std::unique_ptr<State>(new State(initialValues, graph.error(initialValues)))),
-    params_(params) {}
+    const NonlinearFactorGraph& graph, const Values& initialValues,
+    const Parameters& params)
+    : Base(graph, std::unique_ptr<State>(
+                      new State(initialValues, graph.error(initialValues)))),
+      params_(params) {}
 
-double NonlinearConjugateGradientOptimizer::System::error(const State& state) const {
+double NonlinearConjugateGradientOptimizer::System::error(
+    const Values& state) const {
   return graph_.error(state);
 }
 
-NonlinearConjugateGradientOptimizer::System::Gradient NonlinearConjugateGradientOptimizer::System::gradient(
-    const State &state) const {
+VectorValues NonlinearConjugateGradientOptimizer::System::gradient(
+    const Values& state) const {
   return gradientInPlace(graph_, state);
 }
 
-NonlinearConjugateGradientOptimizer::System::State NonlinearConjugateGradientOptimizer::System::advance(
-    const State &current, const double alpha, const Gradient &g) const {
-  Gradient step = g;
-  step *= alpha;
-  return current.retract(step);
+Values NonlinearConjugateGradientOptimizer::System::advance(
+    const Values& current, const double alpha,
+    const VectorValues& gradient) const {
+  return current.retract(alpha * gradient);
 }
 
 GaussianFactorGraph::shared_ptr NonlinearConjugateGradientOptimizer::iterate() {
diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
index 3dd6c7e05..26f596b06 100644
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
@@ -29,8 +29,6 @@ class GTSAM_EXPORT NonlinearConjugateGradientOptimizer : public NonlinearOptimiz
   /* a class for the nonlinearConjugateGradient template */
   class System {
   public:
-    typedef Values State;
-    typedef VectorValues Gradient;
     typedef NonlinearOptimizerParams Parameters;
 
   protected:
@@ -40,10 +38,10 @@ class GTSAM_EXPORT NonlinearConjugateGradientOptimizer : public NonlinearOptimiz
     System(const NonlinearFactorGraph &graph) :
         graph_(graph) {
     }
-    double error(const State &state) const;
-    Gradient gradient(const State &state) const;
-    State advance(const State &current, const double alpha,
-        const Gradient &g) const;
+    double error(const Values &state) const;
+    VectorValues gradient(const Values &state) const;
+    Values advance(const Values &current, const double alpha,
+                  const VectorValues &g) const;
   };
 
 public:
@@ -52,7 +50,7 @@ public:
   typedef NonlinearOptimizerParams Parameters;
   typedef std::shared_ptr<NonlinearConjugateGradientOptimizer> shared_ptr;
 
-protected:
+ protected:
   Parameters params_;
 
   const NonlinearOptimizerParams& _params() const override {
@@ -62,8 +60,9 @@ protected:
 public:
 
   /// Constructor
-  NonlinearConjugateGradientOptimizer(const NonlinearFactorGraph& graph,
-      const Values& initialValues, const Parameters& params = Parameters());
+  NonlinearConjugateGradientOptimizer(
+      const NonlinearFactorGraph &graph, const Values &initialValues,
+      const Parameters &params = Parameters());
 
   /// Destructor
   ~NonlinearConjugateGradientOptimizer() override {
@@ -163,8 +162,8 @@ std::tuple<V, int> nonlinearConjugateGradient(const S &system,
   }
 
   V currentValues = initial;
-  typename S::Gradient currentGradient = system.gradient(currentValues),
-      prevGradient, direction = currentGradient;
+  VectorValues currentGradient = system.gradient(currentValues), prevGradient,
+               direction = currentGradient;
 
   /* do one step of gradient descent */
   V prevValues = currentValues;