Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | Private Member Functions | Friends | List of all members
gtsam::noiseModel::mEstimator::Cauchy Class Reference

#include <LossFunctions.h>

Inheritance diagram for gtsam::noiseModel::mEstimator::Cauchy:
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Public Types

typedef boost::shared_ptr< Cauchyshared_ptr
 
- Public Types inherited from gtsam::noiseModel::mEstimator::Base
enum  ReweightScheme { Scalar, Block }
 
typedef boost::shared_ptr< Baseshared_ptr
 

Public Member Functions

 Cauchy (double k=0.1, const ReweightScheme reweight=Block)
 
bool equals (const Base &expected, double tol=1e-8) const override
 
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_
 
double ksquared_
 
- 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

Cauchy implements the "Cauchy" robust error model (Lee2013IROS). Contributed by: Dipl.-Inform. Jan Oberlaender (M.Sc.), FZI Research Center for Information Technology, Karlsruhe, Germany. oberl.nosp@m.aend.nosp@m.er@fz.nosp@m.i.de Thanks Jan!

Definition at line 205 of file LossFunctions.h.

Member Typedef Documentation

Definition at line 210 of file LossFunctions.h.

Constructor & Destructor Documentation

gtsam::noiseModel::mEstimator::Cauchy::Cauchy ( double  k = 0.1,
const ReweightScheme  reweight = Block 
)

Definition at line 205 of file LossFunctions.cpp.

Member Function Documentation

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

Definition at line 230 of file LossFunctions.cpp.

bool gtsam::noiseModel::mEstimator::Cauchy::equals ( const Base expected,
double  tol = 1e-8 
) const
overridevirtual

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

Definition at line 224 of file LossFunctions.cpp.

double gtsam::noiseModel::mEstimator::Cauchy::loss ( double  distance) const
overridevirtual

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

Definition at line 215 of file LossFunctions.cpp.

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

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

Definition at line 220 of file LossFunctions.cpp.

template<class ARCHIVE >
void gtsam::noiseModel::mEstimator::Cauchy::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 223 of file LossFunctions.h.

double gtsam::noiseModel::mEstimator::Cauchy::weight ( double  distance) const
overridevirtual

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

Definition at line 211 of file LossFunctions.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access
friend

Serialization function

Definition at line 221 of file LossFunctions.h.

Member Data Documentation

double gtsam::noiseModel::mEstimator::Cauchy::k_
protected

Definition at line 207 of file LossFunctions.h.

double gtsam::noiseModel::mEstimator::Cauchy::ksquared_
protected

Definition at line 207 of file LossFunctions.h.


The documentation for this class was generated from the following files:


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:59:09