normal_levenberg_optimizer.hpp

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#pragma once
 
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
#include "slam_solver/graph_slam_solver/optimizer/base_optimizer.hpp"
 
class NormalLevenbergOptimizer : public BaseOptimizer {
public:
  NormalLevenbergOptimizer(const SLAMParameters& params);
 
  ~NormalLevenbergOptimizer() override = default;
 
  std::shared_ptr<BaseOptimizer> clone() const override;
 
  gtsam::Values optimize(gtsam::NonlinearFactorGraph& factor_graph, gtsam::Values& graph_values,
                         [[maybe_unused]] unsigned int pose_num,
                         [[maybe_unused]] unsigned int landmark_num) override;
};