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modified document, remove commented function, add deprecated distance

release/4.3a0
yetongumich 2020-04-05 18:44:56 -04:00
parent 90b286f553
commit 3f8bb10405
3 changed files with 8 additions and 9 deletions
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doc/robust.pdf
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5
gtsam/linear/NoiseModel.cpp
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@ -661,11 +661,6 @@ Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust,
return shared_ptr(new Robust(robust, gaussian));
}
// Robust::shared_ptr Robust::Create(
// const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){
// return shared_ptr(new Robust(robust,noise));
// }
/* ************************************************************************* */
}

12
gtsam/linear/NoiseModel.h
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@ -94,7 +94,9 @@ namespace gtsam {
virtual double error(const Vector& v) const = 0;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
virtual double distance(const Vector& v) const = 0;
virtual double distance(const Vector& v) {
return error(v) * 2;
}
#endif
virtual void WhitenSystem(std::vector<Matrix>& A, Vector& b) const = 0;
@ -713,6 +715,11 @@ namespace gtsam {
{ Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; }
inline virtual Vector unwhiten(const Vector& /*v*/) const
{ throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); }
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
inline virtual double distance(const Vector& v) {
return robust_->loss(this->unweightedWhiten(v).norm());
}
#endif
// Fold the use of the m-estimator loss(...) function into error(...)
inline virtual double error(const Vector& v) const
{ return robust_->loss(noise_->mahalanobisDistance(v)); }
@ -734,9 +741,6 @@ namespace gtsam {
static shared_ptr Create(
const RobustModel::shared_ptr &robust, const noiseModel::Base::shared_ptr noise);
// static shared_ptr Create(
// const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise);
private:
/** Serialization function */
friend class boost::serialization::access;