robust_kernel.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_ROBUST_KERNEL_H
28 #define G2O_ROBUST_KERNEL_H
29 
30 #ifdef _MSC_VER
31 #include <memory>
32 #else
33 #include <tr1/memory>
34 #endif
35 #include <Eigen/Core>
36 
37 
38 namespace g2o {
39 
52  {
53  public:
54  RobustKernel();
55  explicit RobustKernel(double delta);
56  virtual ~RobustKernel() {}
65  virtual void robustify(double squaredError, Eigen::Vector3d& rho) const = 0;
66 
71  virtual void setDelta(double delta);
72  double delta() const { return _delta;}
73 
74  protected:
75  double _delta;
76  };
77  typedef std::tr1::shared_ptr<RobustKernel> RobustKernelPtr;
78 
79 } // end namespace g2o
80 
81 #endif
base for all robust cost functions
Definition: robust_kernel.h:51
virtual void robustify(double squaredError, Eigen::Vector3d &rho) const =0
double delta() const
Definition: robust_kernel.h:72
virtual ~RobustKernel()
Definition: robust_kernel.h:56
std::tr1::shared_ptr< RobustKernel > RobustKernelPtr
Definition: robust_kernel.h:77
virtual void setDelta(double delta)


orb_slam2_ros
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autogenerated on Wed Apr 21 2021 02:53:05