34 lines
811 B
C
34 lines
811 B
C
|
/*
|
||
|
|
* @file SQPOptimizer-inl.h
|
||
|
|
* @brief Implementation of the SQP Optimizer
|
||
|
|
* @author Alex Cunningham
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "SQPOptimizer.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
namespace gtsam {
|
||
|
|
|
||
|
|
/* **************************************************************** */
|
||
|
|
template <class G, class C>
|
||
|
|
SQPOptimizer<G,C>::SQPOptimizer(const G& graph, const Ordering& ordering,
|
||
|
|
shared_config config)
|
||
|
|
: graph_(&graph), ordering_(&ordering), config_(config)
|
||
|
|
{
|
||
|
|
// TODO: assign a value to the lagrange config
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/* **************************************************************** */
|
||
|
|
template <class G, class C>
|
||
|
|
SQPOptimizer<G,C>::SQPOptimizer(const G& graph, const Ordering& ordering,
|
||
|
|
shared_config config, shared_vconfig lagrange)
|
||
|
|
: graph_(&graph), ordering_(&ordering), config_(config), lagrange_config_(lagrange)
|
||
|
|
{
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|