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noise models: Add getters for all model parameters

release/4.3a0
Jose Luis Blanco Claraco 2022-04-19 18:35:03 +02:00
parent 3cf7442112
commit f12db7ab0e
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GPG Key ID: D443304FBD70A641
1 changed files with 10 additions and 0 deletions
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10
gtsam/linear/LossFunctions.h
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@ -70,6 +70,8 @@ class GTSAM_EXPORT Base {
Base(const ReweightScheme reweight = Block) : reweight_(reweight) {} Base(const ReweightScheme reweight = Block) : reweight_(reweight) {}
virtual ~Base() {} virtual ~Base() {}
ReweightScheme reweightScheme() const { return reweight_; }
/* /*
* This method is responsible for returning the total penalty for a given * This method is responsible for returning the total penalty for a given
* amount of error. For example, this method is responsible for implementing * amount of error. For example, this method is responsible for implementing
@ -160,6 +162,7 @@ class GTSAM_EXPORT Fair : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double c, const ReweightScheme reweight = Block); static shared_ptr Create(double c, const ReweightScheme reweight = Block);
double modelParameter() const { return c_; }
private: private:
/** Serialization function */ /** Serialization function */
@ -185,6 +188,7 @@ class GTSAM_EXPORT Huber : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return k_; }
private: private:
/** Serialization function */ /** Serialization function */
@ -215,6 +219,7 @@ class GTSAM_EXPORT Cauchy : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return k_; }
private: private:
/** Serialization function */ /** Serialization function */
@ -241,6 +246,7 @@ class GTSAM_EXPORT Tukey : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return c_; }
private: private:
/** Serialization function */ /** Serialization function */
@ -266,6 +272,7 @@ class GTSAM_EXPORT Welsch : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return c_; }
private: private:
/** Serialization function */ /** Serialization function */
@ -295,6 +302,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return c_; }
protected: protected:
double c_; double c_;
@ -325,6 +333,7 @@ class GTSAM_EXPORT DCS : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return c_; }
protected: protected:
double c_; double c_;
@ -358,6 +367,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
void print(const std::string &s) const override; void print(const std::string &s) const override;
bool equals(const Base &expected, double tol = 1e-8) const override; bool equals(const Base &expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block); static shared_ptr Create(double k, const ReweightScheme reweight = Block);
double modelParameter() const { return k_; }
private: private:
/** Serialization function */ /** Serialization function */