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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/linear/MEstimators.cpp
View File

@ -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 {
std::cout << s << ": Welsh (" << c_ << ")" << std::endl;
void Welsch::print(const std::string &s="") const {
std::cout << s << ": Welsch (" << c_ << ")" << std::endl;
}
bool Welsh::equals(const Base &expected, double tol) const {
const Welsh* p = dynamic_cast<const Welsh*>(&expected);
bool Welsch::equals(const Base &expected, double tol) const {
const Welsch* p = dynamic_cast<const Welsch*>(&expected);
if (p == NULL) return false;
return std::abs(c_ - p->c_) < tol;
}
Welsh::shared_ptr Welsh::Create(double c, const ReweightScheme reweight) {
return shared_ptr(new Welsh(c, reweight));
Welsch::shared_ptr Welsch::Create(double c, const ReweightScheme reweight) {
return shared_ptr(new Welsch(c, reweight));
}
/* ************************************************************************* */

8
gtsam/linear/MEstimators.h
View File

@ -238,15 +238,15 @@ namespace gtsam {
}
};
/// Welsh implements the "Welsh" robust error model (Zhang97ivc)
class GTSAM_EXPORT Welsh : public Base {
/// Welsch implements the "Welsch" robust error model (Zhang97ivc)
class GTSAM_EXPORT Welsch : public Base {
protected:
double c_, csquared_;
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 xc2 = (error*error)/csquared_;
return std::exp(-xc2/2.0);