Use fabs in Huber condition

2015-08-20 15:45:12 -04:00 · 2015-08-20 15:45:12 -04:00 · 6cdc1de268
parent 47d787b478
commit 6cdc1de268
1 changed files with 1 additions and 1 deletions
--- 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 {