deprecate error in noisemodel, use loss instead; revise virtual with override
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7db7455c12
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ec993497f3
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@ -515,7 +515,7 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const {
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double JacobianFactor::error(const VectorValues& c) const {
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Vector e = unweighted_error(c);
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// Use the noise model distance function to get the correct error if available.
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if (model_) return model_->error(e);
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if (model_) return 0.5 * model_->squaredMahalanobisDistance(e);
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return 0.5 * e.dot(e);
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}
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