Namespaces | Functions
robust.h File Reference

Robust estimator functionality. More...

#include <cmath>
#include "util.h"
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namespace  isam


double isam::cost_blake_zisserman (double d, double e)
double isam::cost_cauchy (double d, double b=1.)
double isam::cost_corrupted_gaussian (double d, double w, double a)
double isam::cost_huber (double d, double b)
double isam::cost_l1 (double d, double b=0.5)
double isam::cost_pseudo_huber (double d, double b)
double isam::cost_squared (double d)

Detailed Description

Robust estimator functionality.

Michael Kaess
robust.h 6377 2012-03-30 20:06:44Z kaess

Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard

This file is part of iSAM.

iSAM is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with iSAM. If not, see <>.

Definition in file robust.h.

Author(s): Ji Zhang
autogenerated on Mon Jan 6 2014 11:16:09