From 29d220d9fa8b9aeb345dab70f182cf4d8d6b84eb Mon Sep 17 00:00:00 2001 From: Paloma de la Puente <paloma.delapuente@upm.es> Date: Fri, 23 Oct 2009 00:40:07 +0000 Subject: [PATCH] Optimizer added --- sm/csm/structprior/Optimizer.cpp | 19 +++++++++++++++++++ sm/csm/structprior/Optimizer.h | 23 +++++++++++++++++++++++ sm/csm/structprior/structprior_test.cpp | 6 +++--- 3 files changed, 45 insertions(+), 3 deletions(-) create mode 100644 sm/csm/structprior/Optimizer.cpp create mode 100644 sm/csm/structprior/Optimizer.h diff --git a/sm/csm/structprior/Optimizer.cpp b/sm/csm/structprior/Optimizer.cpp new file mode 100644 index 0000000..95f0367 --- /dev/null +++ b/sm/csm/structprior/Optimizer.cpp @@ -0,0 +1,19 @@ +#include "Optimizer.h" + +Optimizer::Optimizer(LDP ld, MeasurementsLikelihood ml, ConstraintManager cm) +{ + laser_data = ld; + measurements_likelihood = ml; + constraint_manager = cm; + +} + +Optimizer::~Optimizer(void) +{ + +} + +void Optimizer::Optimizer() +{ + +} diff --git a/sm/csm/structprior/Optimizer.h b/sm/csm/structprior/Optimizer.h new file mode 100644 index 0000000..8784da2 --- /dev/null +++ b/sm/csm/structprior/Optimizer.h @@ -0,0 +1,23 @@ +#ifndef H_OPTIMIZER +#define H_OPTIMIZER + +#include <csm/csm_all.h> +#include "MeasurementsLikelihood.h" +#include "ConstraintManager.h" + +class Minimizer +{ + +//constructors +public: + Optimizer(LDP ld, MeasurementsLikelihood ml, ConstraintManager cm); + virtual ~Optimizer(void); +//class variables + LDP laser_data; + MeasurementsLikelihood measurements_likelihood; + ConstraintManager constraint_manager; +//methods + void OptimizeAlphas(); + +}; +#endif diff --git a/sm/csm/structprior/structprior_test.cpp b/sm/csm/structprior/structprior_test.cpp index c2cbe19..b0a4a94 100644 --- a/sm/csm/structprior/structprior_test.cpp +++ b/sm/csm/structprior/structprior_test.cpp @@ -3,7 +3,7 @@ #include "ConstraintManager.h" #include "MeasurementsLikelihood.h" -#include "Minimizer.h" +#include "Optimizer.h" int main(int argc, const char** argv) @@ -36,8 +36,8 @@ int main(int argc, const char** argv) int number_of_measurements = laserdata->nrays; MeasurementsLikelihood f(L2,number_of_measurements); - Minimizer minimizer(laserdata,f,cons_manager); - minimizer.Minimize(); + Optimizer optimizer(laserdata,f,cons_manager); + optimizer.OptimizeAlphas(); -- GitLab