#include <LossFunctions.h>

Inheritance diagram for gtsam::noiseModel::mEstimator::L2WithDeadZone:

Public Types
typedef boost::shared_ptr< L2WithDeadZone >	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

	L2WithDeadZone (double k=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

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	k_

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

L2WithDeadZone implements a standard L2 penalty, but with a dead zone of width 2*k, centered at the origin. The resulting penalty within the dead zone is always zero, and grows quadratically outside the dead zone. In this sense, the L2WithDeadZone penalty is "robust to inliers", rather than being robust to outliers. This penalty can be used to create barrier functions in a general way.

Definition at line 346 of file LossFunctions.h.

Member Typedef Documentation

typedef boost::shared_ptr<L2WithDeadZone> gtsam::noiseModel::mEstimator::L2WithDeadZone::shared_ptr

Definition at line 351 of file LossFunctions.h.

Constructor & Destructor Documentation

gtsam::noiseModel::mEstimator::L2WithDeadZone::L2WithDeadZone	(	double	k = `1.0`,
		const ReweightScheme	reweight = `Block`
	)

Definition at line 387 of file LossFunctions.cpp.

Member Function Documentation

L2WithDeadZone::shared_ptr gtsam::noiseModel::mEstimator::L2WithDeadZone::Create	(	double	k,
		const ReweightScheme	reweight = `Block`
	)

static

Definition at line 418 of file LossFunctions.cpp.

bool gtsam::noiseModel::mEstimator::L2WithDeadZone::equals	(	const Base &	expected,
		double	tol = `1e-8`
	)		const

overridevirtual

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

Definition at line 412 of file LossFunctions.cpp.

double gtsam::noiseModel::mEstimator::L2WithDeadZone::loss ( double distance ) const

overridevirtual

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

Definition at line 403 of file LossFunctions.cpp.

void gtsam::noiseModel::mEstimator::L2WithDeadZone::print ( const std::string & s = "" ) const

overridevirtual

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

Definition at line 408 of file LossFunctions.cpp.

template<class ARCHIVE >

void gtsam::noiseModel::mEstimator::L2WithDeadZone::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 364 of file LossFunctions.h.

double gtsam::noiseModel::mEstimator::L2WithDeadZone::weight ( double distance ) const

overridevirtual

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

Definition at line 394 of file LossFunctions.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 362 of file LossFunctions.h.

Member Data Documentation

double gtsam::noiseModel::mEstimator::L2WithDeadZone::k_

protected

Definition at line 348 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