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Commit 2966be41 authored by Paloma de la Puente's avatar Paloma de la Puente
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optimizer added

parent e91ff3f5
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...@@ -17,10 +17,8 @@ public: ...@@ -17,10 +17,8 @@ public:
MeasurementsLikelihood(int likelihood_function, int measurements_number); MeasurementsLikelihood(int likelihood_function, int measurements_number);
virtual ~MeasurementsLikelihood(void); virtual ~MeasurementsLikelihood(void);
//class variables //class variables
protected:
LDP laser_data;
int function_type;
public: public:
int function_type;
double error; double error;
std::vector<double> grad; std::vector<double> grad;
std::vector<std::vector<double> > hess; std::vector<std::vector<double> > hess;
......
...@@ -13,7 +13,51 @@ Optimizer::~Optimizer(void) ...@@ -13,7 +13,51 @@ Optimizer::~Optimizer(void)
} }
void Optimizer::OptimizeAlphas() std::vector<double> Optimizer::OptimizeAlphas()
{ {
std::vector<double> x;
if (measurements_likelihood.function_type == L2)
{
std::vector<double> alpha0_vector;
std::vector<double> covs_vector;
for(int i=0;i<laser_data->nrays;i++)
{
alpha0_vector.push_back(laser_data->alpha[i]);
x.push_back(laser_data->alpha[i]);
covs_vector.push_back(laser_data->cov_alpha[i]);
}
for (int k=0;k<1000;k++)
{
// chek...
constraint_manager.ApplyConstraintsAlphas(x);
measurements_likelihood.ComputeAlphaLikelihoods(x,alpha0_vector,covs_vector);
}
}
if (measurements_likelihood.function_type == L1)
{
}
}
void Optimizer::OptimizeRanges()
{
}
void Optimizer::OptimizePoses()
{
} }
...@@ -17,7 +17,9 @@ public: ...@@ -17,7 +17,9 @@ public:
MeasurementsLikelihood measurements_likelihood; MeasurementsLikelihood measurements_likelihood;
ConstraintManager constraint_manager; ConstraintManager constraint_manager;
//methods //methods
void OptimizeAlphas(); std::vector<double> OptimizeAlphas();
void OptimizeRanges();
void OptimizePoses();
}; };
#endif #endif
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