robust_kernel_impl.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.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_ROBUST_KERNEL_IMPL_H
#define G2O_ROBUST_KERNEL_IMPL_H

#include "robust_kernel.h"

namespace g2o {

  class  RobustKernelScaleDelta : public RobustKernel
  {
    public:
      explicit RobustKernelScaleDelta(const RobustKernelPtr& kernel, double delta = 1.);
      explicit RobustKernelScaleDelta(double delta = 1.);

      const RobustKernelPtr kernel() const { return _kernel;}
      void setKernel(const RobustKernelPtr& ptr);

      void robustify(double error, Eigen::Vector3d& rho) const;

    protected:
      RobustKernelPtr _kernel;
  };

  class  RobustKernelHuber : public RobustKernel
  {
    public:
      virtual void setDelta(double delta);
      virtual void setDeltaSqr(const double &delta, const double &deltaSqr);
      virtual void robustify(double e2, Eigen::Vector3d& rho) const;

    private:
      float dsqr;
  };

  class  RobustKernelTukey : public RobustKernel
  {
    public:

      virtual void setDeltaSqr(const double &deltaSqr, const double &inv);
      virtual void robustify(double e2, Eigen::Vector3d& rho) const;
    private:
      float _deltaSqr;
      float _invDeltaSqr;
  };


  class  RobustKernelPseudoHuber : public RobustKernel
  {
    public:
      virtual void robustify(double e2, Eigen::Vector3d& rho) const;
  };

  class  RobustKernelCauchy : public RobustKernel
  {
    public:
      virtual void robustify(double e2, Eigen::Vector3d& rho) const;
  };

  class  RobustKernelSaturated : public RobustKernel
  {
    public:
      virtual void robustify(double e2, Eigen::Vector3d& rho) const;
  };

  class  RobustKernelDCS : public RobustKernel
  {
    public:
      virtual void robustify(double e2, Eigen::Vector3d& rho) const;
  };

} // end namespace g2o

#endif