gtsam 4.1.1
gtsam::noiseModel::mEstimator::Cauchy Class Reference

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. Thanks Jan!

+ Inheritance diagram for gtsam::noiseModel::mEstimator::Cauchy:

Public Member Functions

 Cauchy (double k=0.1, const ReweightScheme reweight=Block)
double weight (double distance) const override
double loss (double distance) const override
void print (const std::string &s) const override
bool equals (const Base &expected, double tol=1e-8) const override
- Public Member Functions inherited from gtsam::noiseModel::mEstimator::Base
 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

Static Public Member Functions

static shared_ptr Create (double k, const ReweightScheme reweight=Block)

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

Protected Attributes

double k_
double ksquared_
- 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


class boost::serialization::access
 Serialization function.

Member Function Documentation

◆ equals()

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

◆ loss()

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

◆ print()

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

◆ weight()

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

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