gtsam::noiseModel::mEstimator::Base Class Reference

#include <LossFunctions.h>

Inheritance diagram for gtsam::noiseModel::mEstimator::Base:

Public Types
enum	ReweightScheme { Scalar, Block }
typedef boost::shared_ptr< Base >	shared_ptr

Public Member Functions
	Base (const ReweightScheme reweight=Block)
virtual bool	equals (const Base &expected, double tol=1e-8) const =0
virtual double	loss (double distance) const
virtual void	print (const std::string &s) const =0
void	reweight (Vector &error) const
void	reweight (std::vector< Matrix > &A, Vector &error) const
void	reweight (Matrix &A, Vector &error) const
void	reweight (Matrix &A1, Matrix &A2, Vector &error) const
void	reweight (Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const
double	sqrtWeight (double distance) const
Vector	sqrtWeight (const Vector &error) const
virtual double	weight (double distance) const =0
Vector	weight (const Vector &error) const
virtual	~Base ()

Protected Attributes
ReweightScheme	reweight_

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access

Detailed Description

Definition at line 59 of file LossFunctions.h.

Member Typedef Documentation

typedef boost::shared_ptr<Base> gtsam::noiseModel::mEstimator::Base::shared_ptr

Definition at line 62 of file LossFunctions.h.

Member Enumeration Documentation

enum gtsam::noiseModel::mEstimator::Base::ReweightScheme

Enumerator
Scalar
Block

Definition at line 61 of file LossFunctions.h.

Constructor & Destructor Documentation

gtsam::noiseModel::mEstimator::Base::Base ( const ReweightScheme  reweight = Block )

inline

Definition at line 70 of file LossFunctions.h.

virtual gtsam::noiseModel::mEstimator::Base::~Base ( )

inlinevirtual

Definition at line 71 of file LossFunctions.h.

Member Function Documentation

virtual bool gtsam::noiseModel::mEstimator::Base::equals ( const Base &  expected, double  tol = 1e-8  ) const

pure virtual

Implemented in gtsam::noiseModel::mEstimator::L2WithDeadZone, gtsam::noiseModel::mEstimator::DCS, gtsam::noiseModel::mEstimator::GemanMcClure, gtsam::noiseModel::mEstimator::Welsch, gtsam::noiseModel::mEstimator::Tukey, gtsam::noiseModel::mEstimator::Cauchy, gtsam::noiseModel::mEstimator::Huber, gtsam::noiseModel::mEstimator::Fair, and gtsam::noiseModel::mEstimator::Null.

virtual double gtsam::noiseModel::mEstimator::Base::loss ( double  distance ) const

inlinevirtual

Reimplemented in gtsam::noiseModel::mEstimator::L2WithDeadZone, gtsam::noiseModel::mEstimator::DCS, gtsam::noiseModel::mEstimator::GemanMcClure, gtsam::noiseModel::mEstimator::Welsch, gtsam::noiseModel::mEstimator::Tukey, gtsam::noiseModel::mEstimator::Cauchy, gtsam::noiseModel::mEstimator::Huber, gtsam::noiseModel::mEstimator::Fair, and gtsam::noiseModel::mEstimator::Null.

Definition at line 84 of file LossFunctions.h.

virtual void gtsam::noiseModel::mEstimator::Base::print ( const std::string &  s ) const

pure virtual

Implemented in gtsam::noiseModel::mEstimator::L2WithDeadZone, gtsam::noiseModel::mEstimator::DCS, gtsam::noiseModel::mEstimator::GemanMcClure, gtsam::noiseModel::mEstimator::Welsch, gtsam::noiseModel::mEstimator::Tukey, gtsam::noiseModel::mEstimator::Cauchy, gtsam::noiseModel::mEstimator::Huber, gtsam::noiseModel::mEstimator::Fair, and gtsam::noiseModel::mEstimator::Null.

void Base::reweight

(

Vector &

error

)

const

reweight block matrices and a vector according to their weight implementation

Definition at line 45 of file LossFunctions.cpp.

void Base::reweight	(	std::vector< Matrix > &	A,
		Vector &	error
	)		const

Definition at line 55 of file LossFunctions.cpp.

void Base::reweight	(	Matrix &	A,
		Vector &	error
	)		const

Definition at line 73 of file LossFunctions.cpp.

void Base::reweight	(	Matrix &	A1,
		Matrix &	A2,
		Vector &	error
	)		const

Definition at line 87 of file LossFunctions.cpp.

void Base::reweight	(	Matrix &	A1,
		Matrix &	A2,
		Matrix &	A3,
		Vector &	error
	)		const

Definition at line 103 of file LossFunctions.cpp.

template<class ARCHIVE >

void gtsam::noiseModel::mEstimator::Base::serialize ( ARCHIVE &  ar, const unsigned  int  )

inlineprivate

Definition at line 122 of file LossFunctions.h.

double gtsam::noiseModel::mEstimator::Base::sqrtWeight ( double  distance ) const

inline

Definition at line 99 of file LossFunctions.h.

Vector gtsam::noiseModel::mEstimator::Base::sqrtWeight ( const Vector &  error ) const

inline

square root version of the weight function

Definition at line 106 of file LossFunctions.h.

virtual double gtsam::noiseModel::mEstimator::Base::weight ( double  distance ) const

pure virtual

Implemented in gtsam::noiseModel::mEstimator::L2WithDeadZone, gtsam::noiseModel::mEstimator::DCS, gtsam::noiseModel::mEstimator::GemanMcClure, gtsam::noiseModel::mEstimator::Welsch, gtsam::noiseModel::mEstimator::Tukey, gtsam::noiseModel::mEstimator::Cauchy, gtsam::noiseModel::mEstimator::Huber, gtsam::noiseModel::mEstimator::Fair, and gtsam::noiseModel::mEstimator::Null.

Vector Base::weight

(

const Vector &

error

)

const

produce a weight vector according to an error vector and the implemented robust function

Definition at line 34 of file LossFunctions.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 120 of file LossFunctions.h.

Member Data Documentation

ReweightScheme gtsam::noiseModel::mEstimator::Base::reweight_

protected

the rows can be weighted independently according to the error or uniformly with the norm of the right hand side

Definition at line 67 of file LossFunctions.h.

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The documentation for this class was generated from the following files:

• LossFunctions.h
• LossFunctions.cpp