Detailed Description

GemanMcClure implements the "Geman-McClure" robust error model (Zhang97ivc).

Note that Geman-McClure weight function uses the parameter c == 1.0, but here it's allowed to use different values, so we actually have the generalized Geman-McClure from (Agarwal15phd).

Inheritance diagram for gtsam::noiseModel::mEstimator::GemanMcClure:

Public Member Functions
	GemanMcClure (double c=1.0, const ReweightScheme reweight=Block)

virtual double	weight (double error) const

virtual void	print (const std::string &s) const

virtual bool	equals (const Base &expected, double tol=1e-8) const

Public Member Functions inherited from gtsam::noiseModel::mEstimator::Base
	Base (const ReweightScheme reweight=Block)

virtual double	residual (double error) const

double	sqrtWeight (double error) const

Vector	weight (const Vector &error) const
	produce a weight vector according to an error vector and the implemented robust function

Vector	sqrtWeight (const Vector &error) const
	square root version of the weight function

void	reweight (Vector &error) const
	reweight block matrices and a vector according to their weight implementation

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

Static Public Member Functions
static shared_ptr	Create (double k, const ReweightScheme reweight=Block)

Public Types
typedef boost::shared_ptr< GemanMcClure >	shared_ptr

Public Types inherited from gtsam::noiseModel::mEstimator::Base
enum	ReweightScheme { Scalar, Block }

typedef boost::shared_ptr< Base >	shared_ptr

Protected Attributes
double	c_

Protected Attributes inherited from gtsam::noiseModel::mEstimator::Base
ReweightScheme	reweight_
	the rows can be weighted independently according to the error or uniformly with the norm of the right hand side

Friends
class	boost::serialization::access
	Serialization function.

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

/Users/dellaert/git/gtsam/gtsam/linear/NoiseModel.h
/Users/dellaert/git/gtsam/gtsam/linear/NoiseModel.cpp

Detailed Description

Public Member Functions

Static Public Member Functions

Public Types

Protected Attributes

Friends