#include <LossFunctions.h>

Inheritance diagram for gtsam::noiseModel::mEstimator::GemanMcClure:

Public Types
typedef boost::shared_ptr< GemanMcClure >	shared_ptr

Public Types inherited from gtsam::noiseModel::mEstimator::Base
enum	ReweightScheme { Scalar, Block }

typedef boost::shared_ptr< Base >	shared_ptr

Public Member Functions
bool	equals (const Base &expected, double tol=1e-8) const override

	GemanMcClure (double c=1.0, const ReweightScheme reweight=Block)

double	loss (double distance) const override

void	print (const std::string &s) const override

double	weight (double distance) const override

	~GemanMcClure () 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

GemanMcClure implements the "Geman-McClure" robust error model (Zhang97ivc).

Note that Geman-McClure weight function uses the parameter c == 1.0, but here it's allowed to use different values, so we actually have the generalized Geman-McClure from (Agarwal15phd).

Definition at line 285 of file LossFunctions.h.

Member Typedef Documentation

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

Definition at line 287 of file LossFunctions.h.

Constructor & Destructor Documentation

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

Definition at line 310 of file LossFunctions.cpp.

gtsam::noiseModel::mEstimator::GemanMcClure::~GemanMcClure ( )

inlineoverride

Definition at line 290 of file LossFunctions.h.

Member Function Documentation

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

static

Definition at line 337 of file LossFunctions.cpp.

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

overridevirtual

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

Definition at line 331 of file LossFunctions.cpp.

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

overridevirtual

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

Definition at line 321 of file LossFunctions.cpp.

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

overridevirtual

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

Definition at line 327 of file LossFunctions.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 304 of file LossFunctions.h.

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

overridevirtual

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

Definition at line 314 of file LossFunctions.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 302 of file LossFunctions.h.

Member Data Documentation

double gtsam::noiseModel::mEstimator::GemanMcClure::c_

protected

Definition at line 298 of file LossFunctions.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation