gtsam  4.1.0
gtsam
gtsam::noiseModel::mEstimator::Base Class Referenceabstract
+ Inheritance diagram for gtsam::noiseModel::mEstimator::Base:

Public Member Functions

 Base (const ReweightScheme reweight=Block)
 
virtual double loss (double distance) const
 
virtual double weight (double distance) const =0
 
virtual void print (const std::string &s) const =0
 
virtual bool equals (const Base &expected, double tol=1e-8) const =0
 
double sqrtWeight (double distance) 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
 

Public Types

enum  ReweightScheme { Scalar, Block }
 
typedef boost::shared_ptr< Baseshared_ptr
 

Protected Attributes

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: