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deprecated Mahalanobis, add better named functions

release/4.3a0
yetongumich 2020-04-01 15:45:58 -04:00
parent 8c2bd97940
commit fbd5aef61a
3 changed files with 19 additions and 8 deletions
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4
gtsam/linear/NoiseModel.cpp
View File

@ -157,7 +157,7 @@ Vector Gaussian::unwhiten(const Vector& v) const {
}
/* ************************************************************************* */
double Gaussian::Mahalanobis(const Vector& v) const {
double Gaussian::SquaredMahalanobisDistance(const Vector& v) const {
// Note: for Diagonal, which does ediv_, will be correct for constraints
Vector w = whiten(v);
return w.dot(w);
@ -573,7 +573,7 @@ void Isotropic::print(const string& name) const {
}
/* ************************************************************************* */
double Isotropic::Mahalanobis(const Vector& v) const {
double Isotropic::SquaredMahalanobisDistance(const Vector& v) const {
return v.dot(v) * invsigma_ * invsigma_;
}

19
gtsam/linear/NoiseModel.h
View File

@ -207,12 +207,23 @@ namespace gtsam {
virtual Vector unwhiten(const Vector& v) const;
/**
* Mahalanobis distance v'*R'*R*v = <R*v,R*v>
* Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>
*/
virtual double SquaredMahalanobisDistance(const Vector& v) const;
/**
* Mahalanobis distance
*/
virtual double MahalanobisDistance(const Vector& v) const {
return std::sqrt(SquaredMahalanobisDistance(v));
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
virtual double Mahalanobis(const Vector& v) const;
#endif
inline virtual double distance(const Vector& v) const {
return Mahalanobis(v);
return SquaredMahalanobisDistance(v);
}
/**
@ -564,7 +575,7 @@ namespace gtsam {
}
virtual void print(const std::string& name) const;
virtual double Mahalanobis(const Vector& v) const;
virtual double SquaredMahalanobisDistance(const Vector& v) const;
virtual Vector whiten(const Vector& v) const;
virtual Vector unwhiten(const Vector& v) const;
virtual Matrix Whiten(const Matrix& H) const;
@ -616,7 +627,7 @@ namespace gtsam {
virtual bool isUnit() const { return true; }
virtual void print(const std::string& name) const;
virtual double Mahalanobis(const Vector& v) const {return v.dot(v); }
virtual double SquaredMahalanobisDistance(const Vector& v) const {return v.dot(v); }
virtual Vector whiten(const Vector& v) const { return v; }
virtual Vector unwhiten(const Vector& v) const { return v; }
virtual Matrix Whiten(const Matrix& H) const { return H; }

4
gtsam/linear/tests/testNoiseModel.cpp
View File

@ -68,10 +68,10 @@ TEST(NoiseModel, constructors)
for(Gaussian::shared_ptr mi: m)
EXPECT(assert_equal(unwhitened,mi->unwhiten(whitened)));
// test Mahalanobis distance
// test squared Mahalanobis distance
double distance = 5*5+10*10+15*15;
for(Gaussian::shared_ptr mi: m)
DOUBLES_EQUAL(distance,mi->Mahalanobis(unwhitened),1e-9);
DOUBLES_EQUAL(distance,mi->SquaredMahalanobisDistance(unwhitened),1e-9);
// test R matrix
for(Gaussian::shared_ptr mi: m)