ASHISRAVINDRAN

GNCircleSolver::ResultInfo GNCircleSolver::GN_Fit(Eigen::VectorXd& initEstimate)
{
  int i = 0;
  this->status = GNCircleSolver::ResultInfo::FAILURE;
  Eigen::VectorXd _old = initEstimate; // x,y,r
  Eigen::VectorXd	_new = initEstimate; // x,y,r
  while (i < this->maxItr)
  {
    _old = _new;
    Eigen::MatrixXd jacobian = CalculateJacobian(_old, this->points);