gtsam::noiseModel::mEstimator::DCS Class Reference

#include <LossFunctions.h>

Inheritance diagram for gtsam::noiseModel::mEstimator::DCS:

Public Types
typedef boost::shared_ptr< DCS >	shared_ptr
Public Types inherited from gtsam::noiseModel::mEstimator::Base
enum	ReweightScheme { Scalar, Block }
typedef boost::shared_ptr< Base >	shared_ptr

Public Member Functions
	DCS (double c=1.0, const ReweightScheme reweight=Block)
bool	equals (const Base &expected, double tol=1e-8) const override
double	loss (double distance) const override
void	print (const std::string &s) const override
double	weight (double distance) const override
	~DCS () override
Public Member Functions inherited from gtsam::noiseModel::mEstimator::Base
	Base (const ReweightScheme reweight=Block)
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
Vector	weight (const Vector &error) const
virtual	~Base ()

Static Public Member Functions
static shared_ptr	Create (double k, const ReweightScheme reweight=Block)

Protected Attributes
double	c_
Protected Attributes inherited from gtsam::noiseModel::mEstimator::Base
ReweightScheme	reweight_

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

Friends
class	boost::serialization::access

Detailed Description

DCS implements the Dynamic Covariance Scaling robust error model from the paper Robust Map Optimization (Agarwal13icra).

Under the special condition of the parameter c == 1.0 and not forcing the output weight s <= 1.0, DCS is similar to Geman-McClure.

Definition at line 315 of file LossFunctions.h.

Member Typedef Documentation

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

Definition at line 317 of file LossFunctions.h.

Constructor & Destructor Documentation

gtsam::noiseModel::mEstimator::DCS::DCS	(	double	c = 1.0,
		const ReweightScheme	reweight = Block
	)

Definition at line 344 of file LossFunctions.cpp.

gtsam::noiseModel::mEstimator::DCS::~DCS ( )

inlineoverride

Definition at line 320 of file LossFunctions.h.

Member Function Documentation

DCS::shared_ptr gtsam::noiseModel::mEstimator::DCS::Create ( double  k, const ReweightScheme  reweight = Block  )

static

Definition at line 379 of file LossFunctions.cpp.

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

overridevirtual

Implements gtsam::noiseModel::mEstimator::Base.

Definition at line 373 of file LossFunctions.cpp.

double gtsam::noiseModel::mEstimator::DCS::loss ( double  distance ) const

overridevirtual

Reimplemented from gtsam::noiseModel::mEstimator::Base.

Definition at line 359 of file LossFunctions.cpp.

void gtsam::noiseModel::mEstimator::DCS::print ( const std::string &  s = "" ) const

overridevirtual

Implements gtsam::noiseModel::mEstimator::Base.

Definition at line 369 of file LossFunctions.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 334 of file LossFunctions.h.

double gtsam::noiseModel::mEstimator::DCS::weight ( double  distance ) const

overridevirtual

Implements gtsam::noiseModel::mEstimator::Base.

Definition at line 348 of file LossFunctions.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 332 of file LossFunctions.h.

Member Data Documentation

double gtsam::noiseModel::mEstimator::DCS::c_

protected

Definition at line 328 of file LossFunctions.h.

---

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

• LossFunctions.h
• LossFunctions.cpp