From 494005d64a6d1619adc08dc2e8a106bc8455d39a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 8 Oct 2019 21:26:11 -0400 Subject: [PATCH] wrap DCS and L2WithDeadZone estimators --- gtsam.h | 22 +++++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 35256e92c..04575f84d 100644 --- a/gtsam.h +++ b/gtsam.h @@ -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