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Added Welsch model to gtsam.h

release/4.3a0
Alice Anderson 2019-08-29 08:15:00 -07:00
parent 2f8238a956
commit 87c336fce3
1 changed files with 12 additions and 3 deletions
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15
gtsam.h
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@ -252,9 +252,9 @@ class FactorIndices {
bool isDebugVersion();
#include <gtsam/base/DSFMap.h>
class IndexPair {
IndexPair();
IndexPair(size_t i, size_t j);
class IndexPair {
IndexPair();
IndexPair(size_t i, size_t j);
size_t i() const;
size_t j() const;
};
@ -1388,6 +1388,15 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
void serializable() const;
};
virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
Welsch(double k);
static gtsam::noiseModel::mEstimator::Welsch* Create(double k);
// enabling serialization functionality
void serializable() const;
};
}///\namespace mEstimator
virtual class Robust : gtsam::noiseModel::Base {