102123c761
Merge branch 'develop' into fix_bug_robust_residuals
2021-01-05 11:35:15 -05:00
5db6894b66
finally I have a way to properly change the noise model!
2020-11-27 18:25:38 -05:00
7db7455c12
deprecate error in noisemodel, use loss instead; revise virtual with override
2020-07-12 23:05:24 -04:00
201539680f
remove distance in noisemodel, replace with error
2020-04-01 20:07:49 -04:00
23f5c8c331
Make variable names consistent with math
...
Rename mEstimator residual to loss so that it is not confused
with lsq residual vector Ax-b.
Rename distance to squaredDistance when appropriate.
Removed erroneous 0.5 factor from NoiseModelFactor::weight()
Fix bug in mEstimator::Null::loss()
2019-12-10 13:23:10 -08:00
92008c9319
Add functionalities to get introspection of the loss function weights and unweighted residuals for the NoiseModelFactor class
2019-11-12 15:39:56 -08:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
a0661b3813
Almost done. Still need to figure out how to remove the remaining 3 occurrences.
2016-05-21 12:44:46 -04:00
64000bb747
Cleaned up handling of constraints, removed Constrained smart option as was not used, and discovered there was already an "isConstrained" method.
2014-11-25 13:45:59 +01:00
dce8a6c341
Improved error message
2014-11-04 15:43:32 +01:00
9b0298d148
Allow for empty noiseModel_ again (although, dim breaks)
2014-11-04 14:26:25 +01:00
d0e004c05f
No this-> needed
2014-11-02 14:35:22 +01:00
a8ab910c32
Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
2014-11-02 13:45:54 +01:00
027759300d
size_t argument for check
2014-10-14 11:13:09 +02:00
0c7ea68f2f
Now overwriting linearize as preparation for direct VericalBlockMatrix
2014-10-11 17:05:53 +02:00
f887ca47b9
make_shared is a tad faster
2014-10-06 12:13:24 +02:00
df17758469
Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
2014-10-02 13:30:16 +02:00
8a196eb86e
A zero noiseModel_ never worked for NoiseModelFactor, regularizing this by explicit check
2014-10-02 11:01:14 +02:00
2d76f200ce
Fixed compile error
2014-10-01 14:10:27 +02:00
c01c756d69
Created implementation file for NonlinearFactor and moved non-templated code there
2014-10-01 13:14:55 +02:00
Varun Agrawal
lcarlone
yetongumich
Michael Bosse
Francesco Papi
Duy-Nguyen Ta
Frank Dellaert
yao
dellaert