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

revised comments

release/4.3a0
yetongumich 2020-04-05 14:20:44 -04:00
parent a17696298d
commit efc264d8ee
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/linear/NoiseModel.h
View File

@ -229,6 +229,9 @@ namespace gtsam {
} }
#endif #endif
/**
* error value 0.5 * v'*R'*R*v
*/
inline virtual double error(const Vector& v) const { inline virtual double error(const Vector& v) const {
return 0.5 * squaredMahalanobisDistance(v); return 0.5 * squaredMahalanobisDistance(v);
} }
@ -478,7 +481,7 @@ namespace gtsam {
} }
/** /**
* The distance function for a constrained noisemodel, * The error function for a constrained noisemodel,
* for non-constrained versions, uses sigmas, otherwise * for non-constrained versions, uses sigmas, otherwise
* uses the penalty function with mu * uses the penalty function with mu
*/ */