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correct name for Welsch

release/4.3a0
Duy-Nguyen Ta 2016-08-22 13:39:50 -04:00
parent cdaf928ecf
commit df8900a3d1
2 changed files with 12 additions and 12 deletions
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16
gtsam/linear/MEstimators.cpp
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@ -197,22 +197,22 @@ Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
// Welsh // Welsch
/* ************************************************************************* */ /* ************************************************************************* */
Welsh::Welsh(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {}
void Welsh::print(const std::string &s="") const { void Welsch::print(const std::string &s="") const {
std::cout << s << ": Welsh (" << c_ << ")" << std::endl; std::cout << s << ": Welsch (" << c_ << ")" << std::endl;
} }
bool Welsh::equals(const Base &expected, double tol) const { bool Welsch::equals(const Base &expected, double tol) const {
const Welsh* p = dynamic_cast<const Welsh*>(&expected); const Welsch* p = dynamic_cast<const Welsch*>(&expected);
if (p == NULL) return false; if (p == NULL) return false;
return std::abs(c_ - p->c_) < tol; return std::abs(c_ - p->c_) < tol;
} }
Welsh::shared_ptr Welsh::Create(double c, const ReweightScheme reweight) { Welsch::shared_ptr Welsch::Create(double c, const ReweightScheme reweight) {
return shared_ptr(new Welsh(c, reweight)); return shared_ptr(new Welsch(c, reweight));
} }
/* ************************************************************************* */ /* ************************************************************************* */

8
gtsam/linear/MEstimators.h
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@ -238,15 +238,15 @@ namespace gtsam {
} }
}; };
/// Welsh implements the "Welsh" robust error model (Zhang97ivc) /// Welsch implements the "Welsch" robust error model (Zhang97ivc)
class GTSAM_EXPORT Welsh : public Base { class GTSAM_EXPORT Welsch : public Base {
protected: protected:
double c_, csquared_; double c_, csquared_;
public: public:
typedef boost::shared_ptr<Welsh> shared_ptr; typedef boost::shared_ptr<Welsch> shared_ptr;
Welsh(double c = 2.9846, const ReweightScheme reweight = Block); Welsch(double c = 2.9846, const ReweightScheme reweight = Block);
double sqrtWeight(double error) const { double sqrtWeight(double error) const {
double xc2 = (error*error)/csquared_; double xc2 = (error*error)/csquared_;
return std::exp(-xc2/2.0); return std::exp(-xc2/2.0);