base_optimizer.hpp

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#pragma once
 
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
 
#include "slam_config/general_config.hpp"
 
class BaseOptimizer {
protected:
  const SLAMParameters& _params_;
 
public:
  explicit BaseOptimizer(const SLAMParameters& params) : _params_(params){};
  BaseOptimizer(const BaseOptimizer& other) : _params_(other._params_){};
  BaseOptimizer& operator=(const BaseOptimizer& other) {
    if (this == &other) return *this;  // Prevent self-assignment
 
    // Note: _params_ is a reference, so we do not copy it
    return *this;
  }
 
  virtual std::shared_ptr<BaseOptimizer> clone() const = 0;
 
  virtual ~BaseOptimizer() = default;
 
  virtual gtsam::Values optimize(gtsam::NonlinearFactorGraph& factor_graph,
                                 gtsam::Values& graph_values,
                                 [[maybe_unused]] unsigned int pose_num,
                                 [[maybe_unused]] unsigned int landmark_num) = 0;
};