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wrap DCS and L2WithDeadZone estimators

release/4.3a0
Varun Agrawal 2019-10-08 21:26:11 -04:00
parent 586a825c7c
commit 494005d64a
1 changed files with 21 additions and 1 deletions
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22
gtsam.h
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@ -1432,7 +1432,27 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
double residual(double error) const;
};
//TODO DCS and L2WithDeadZone mEstimators
virtual class DCS: gtsam::noiseModel::mEstimator::Base {
DCS(double c);
static gtsam::noiseModel::mEstimator::DCS* Create(double c);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
double residual(double error) const;
};
virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
L2WithDeadZone(double k);
static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
double residual(double error) const;
};
}///\namespace mEstimator