From 6cdc1de2683b8380971f2646cf8c1de5737ed03a Mon Sep 17 00:00:00 2001
From: Enrique Fernandez <efernandez@clearpathrobotics.com>
Date: Thu, 20 Aug 2015 15:45:12 -0400
Subject: [PATCH] Use fabs in Huber condition

---
 gtsam/linear/NoiseModel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 1cf9ff109..80210c3b7 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -696,7 +696,7 @@ Huber::Huber(double k, const ReweightScheme reweight)
 }
 
 double Huber::weight(double error) const {
-  return (error < k_) ? (1.0) : (k_ / fabs(error));
+  return (fabs(error) > k_) ? k_ / fabs(error) : 1.0;
 }
 
 void Huber::print(const std::string &s="") const {