// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_OPTIMIZATION_ALGORITHM_GAUSS_NEWTON_H
#define G2O_OPTIMIZATION_ALGORITHM_GAUSS_NEWTON_H

#include "optimization_algorithm_with_hessian.h"

namespace g2o {

  /**
   * \brief Implementation of the Gauss Newton Algorithm
   */
  class  OptimizationAlgorithmGaussNewton : public OptimizationAlgorithmWithHessian
  {
    public:
      /**
       * construct the Gauss Newton algorithm, which use the given Solver for solving the
       * linearized system.
       */
      explicit OptimizationAlgorithmGaussNewton(Solver* solver);
      virtual ~OptimizationAlgorithmGaussNewton();

      virtual SolverResult solve(int iteration, bool online = false);

      virtual void printVerbose(std::ostream& os) const;
  };

} // end namespace

#endif
