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

Use fabs in Huber condition

release/4.3a0
Enrique Fernandez 2015-08-20 15:45:12 -04:00
parent 47d787b478
commit 6cdc1de268
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/linear/NoiseModel.cpp
View File

@ -696,7 +696,7 @@ Huber::Huber(double k, const ReweightScheme reweight)
} }
double Huber::weight(double error) const { 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 { void Huber::print(const std::string &s="") const {