ErrorMinimizers/Identity.h

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/*
 
Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>
 
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#ifndef LIBPOINTMATCHER_IDENTITY_H
#define LIBPOINTMATCHER_IDENTITY_H
 
#include "PointMatcher.h"
 
template <typename T>
struct IdentityErrorMinimizer: PointMatcher<T>::ErrorMinimizer
{
        typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
        typedef typename PointMatcher<T>::ErrorMinimizer::ErrorElements ErrorElements;
        
        inline static const std::string description()
        {
                return "Does nothing.";
        }
 
        IdentityErrorMinimizer() : PointMatcher<T>::ErrorMinimizer("IdentityErrorMinimizer",
                                                                                                                                                                                                                                                 PointMatcherSupport::Parametrizable::ParametersDoc(),
                                                                                                                                                                                                                                                 PointMatcherSupport::Parametrizable::Parameters()) {}
        //virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
        virtual TransformationParameters compute(const ErrorElements& mPts);
};
 
#endif //LIBPOINTMATCHER_IDENTITY_H