robust_kernel.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_ROBUST_KERNEL_H
#define G2O_ROBUST_KERNEL_H

#ifdef _MSC_VER
#include <memory>
#else
#include <tr1/memory>
#endif
#include <Eigen/Core>


namespace g2o {

  class  RobustKernel
  {
    public:
      RobustKernel();
      explicit RobustKernel(double delta);
      virtual ~RobustKernel() {}
      virtual void robustify(double squaredError, Eigen::Vector3d& rho) const = 0;

      virtual void setDelta(double delta);
      double delta() const { return _delta;}

    protected:
      double _delta;
  };
  typedef std::tr1::shared_ptr<RobustKernel> RobustKernelPtr;

} // end namespace g2o

#endif