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update completed TODOs

release/4.3a0
Varun Agrawal 2021-01-06 11:46:28 -05:00
parent 102123c761
commit a5ff7505ac
1 changed files with 2 additions and 3 deletions
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gtsam/linear/NoiseModel.h
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@ -687,7 +687,7 @@ namespace gtsam {
/// Return the contained noise model /// Return the contained noise model
const NoiseModel::shared_ptr& noise() const { return noise_; } const NoiseModel::shared_ptr& noise() const { return noise_; }
// TODO: functions below are dummy but necessary for the noiseModel::Base // Functions below are dummy but necessary for the noiseModel::Base
inline Vector whiten(const Vector& v) const override inline Vector whiten(const Vector& v) const override
{ Vector r = v; this->WhitenSystem(r); return r; } { Vector r = v; this->WhitenSystem(r); return r; }
inline Matrix Whiten(const Matrix& A) const override inline Matrix Whiten(const Matrix& A) const override
@ -699,7 +699,7 @@ namespace gtsam {
return robust_->loss(std::sqrt(squared_distance)); return robust_->loss(std::sqrt(squared_distance));
} }
// TODO: these are really robust iterated re-weighting support functions // These are really robust iterated re-weighting support functions
virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(Vector& b) const;
void WhitenSystem(std::vector<Matrix>& A, Vector& b) const override; void WhitenSystem(std::vector<Matrix>& A, Vector& b) const override;
void WhitenSystem(Matrix& A, Vector& b) const override; void WhitenSystem(Matrix& A, Vector& b) const override;
@ -710,7 +710,6 @@ namespace gtsam {
return noise_->unweightedWhiten(v); return noise_->unweightedWhiten(v);
} }
double weight(const Vector& v) const override { double weight(const Vector& v) const override {
// Todo(mikebosse): make the robust weight function input a vector.
return robust_->weight(v.norm()); return robust_->weight(v.norm());
} }