NonlinearOptimizerState.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/Values.h>
 
namespace gtsam {
namespace internal {
 
struct NonlinearOptimizerState {
 public:
  const Values values;
 
  const double error;
 
  const size_t iterations;
 
  virtual ~NonlinearOptimizerState() {}
 
  NonlinearOptimizerState(const Values& values, double error, size_t iterations = 0)
      : values(values), error(error), iterations(iterations) {}
 
  // Constructor version that takes ownership of values
  NonlinearOptimizerState(Values&& values, double error, size_t iterations = 0)
      : values(std::move(values)), error(error), iterations(iterations) {}
};
 
}  // namespace internal
}  // namespace gtsam