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wrapped more mEstimators as well as their weight functions

release/4.3a0
Varun Agrawal 2019-09-18 18:44:21 -04:00
parent 19315cc3f3
commit f68c06a10d
1 changed files with 31 additions and 0 deletions
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31
gtsam.h
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@ -1362,6 +1362,8 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
double weight(double error) const;
}; };
virtual class Fair: gtsam::noiseModel::mEstimator::Base { virtual class Fair: gtsam::noiseModel::mEstimator::Base {
@ -1370,6 +1372,8 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
double weight(double error) const;
}; };
virtual class Huber: gtsam::noiseModel::mEstimator::Base { virtual class Huber: gtsam::noiseModel::mEstimator::Base {
@ -1378,6 +1382,18 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
double weight(double error) const;
};
virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
Cauchy(double k);
static gtsam::noiseModel::mEstimator::Cauchy* Create(double k);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
}; };
virtual class Tukey: gtsam::noiseModel::mEstimator::Base { virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
@ -1386,6 +1402,8 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
double weight(double error) const;
}; };
virtual class Welsch: gtsam::noiseModel::mEstimator::Base { virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
@ -1394,8 +1412,21 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
double weight(double error) const;
}; };
virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
GemanMcClure(double k);
static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double k);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
};
//TODO DCS and L2WithDeadZone mEstimators
}///\namespace mEstimator }///\namespace mEstimator