12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Comments and argument name only change

release/4.3a0
Alex Cunningham 2013-04-10 19:35:48 +00:00
parent 9b2a74bbaf
commit 3e754ecd70
2 changed files with 5 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam.h
View File

@ -1000,7 +1000,7 @@ virtual class Constrained : gtsam::noiseModel::Diagonal {
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions); static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
static gtsam::noiseModel::Constrained* All(size_t dim); static gtsam::noiseModel::Constrained* All(size_t dim);
static gtsam::noiseModel::Constrained* All(size_t dim, double m); static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
gtsam::noiseModel::Constrained* unit() const; gtsam::noiseModel::Constrained* unit() const;
}; };

12
gtsam/linear/NoiseModel.h
View File

@ -326,9 +326,6 @@ namespace gtsam {
* While a hard constraint may seem to be a case in which there is infinite error, * While a hard constraint may seem to be a case in which there is infinite error,
* we do not ever produce an error value of infinity to allow for constraints * we do not ever produce an error value of infinity to allow for constraints
* to actually be optimized rather than self-destructing if not initialized correctly. * to actually be optimized rather than self-destructing if not initialized correctly.
*
* The distance function in this function provides an error model
* for a penalty function with a scaling function, assuming a mask of
*/ */
class GTSAM_EXPORT Constrained : public Diagonal { class GTSAM_EXPORT Constrained : public Diagonal {
protected: protected:
@ -395,7 +392,6 @@ namespace gtsam {
/** /**
* A diagonal noise model created by specifying a Vector of * A diagonal noise model created by specifying a Vector of
* precisions, some of which might be inf * precisions, some of which might be inf
* TODO: allow for mu
*/ */
static shared_ptr MixedPrecisions(const Vector& mu, const Vector& precisions) { static shared_ptr MixedPrecisions(const Vector& mu, const Vector& precisions) {
return MixedVariances(mu, reciprocal(precisions)); return MixedVariances(mu, reciprocal(precisions));
@ -421,9 +417,9 @@ namespace gtsam {
return shared_ptr(new Constrained(mu, repeat(dim,0))); return shared_ptr(new Constrained(mu, repeat(dim,0)));
} }
/** Fully constrained variations */ /** Fully constrained variations with a mu parameter */
static shared_ptr All(size_t dim, double m) { static shared_ptr All(size_t dim, double mu) {
return shared_ptr(new Constrained(repeat(dim, m), repeat(dim,0))); return shared_ptr(new Constrained(repeat(dim, mu), repeat(dim,0)));
} }
virtual void print(const std::string& name) const; virtual void print(const std::string& name) const;
@ -445,7 +441,7 @@ namespace gtsam {
* Check constrained is always true * Check constrained is always true
* FIXME Find a better way of handling this * FIXME Find a better way of handling this
*/ */
virtual bool isConstrained() const {return true;} virtual bool isConstrained() const { return true; }
/** /**
* Returns a Unit version of a constrained noisemodel in which * Returns a Unit version of a constrained noisemodel in which