scale a robust kernel to another delta (window size) More...

Inheritance diagram for RobustKernelScaleDelta:

Collaboration diagram for RobustKernelScaleDelta:

Public Member Functions
	RobustKernelScaleDelta (const RobustKernelPtr &kernel, g_type delta=1.)
	construct the scaled kernel ontop of another kernel which might be shared accross several scaled kernels
const RobustKernelPtr	kernel () const
	return the underlying kernel
void	robustify (g_type error, Eigen::Vector3< g_type > &rho) const final override
	compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function
void	setKernel (const RobustKernelPtr &ptr)
	use another kernel for the underlying operation
Public Member Functions inherited from RobustKernel
g_type	delta () const
	Returns the current delta (window size) value.
virtual void	setDelta (g_type delta)
	set the window size of the error.

Additional Inherited Members
Protected Attributes inherited from RobustKernel
g_type	_delta = 1.0
	The window size parameter; errors above delta^2 are considered outliers.

Detailed Description

scale a robust kernel to another delta (window size)

Scales a robust kernel to another window size. Useful, in case if one implements a kernel which only is designed for a fixed window size.

Definition at line 14 of file robust_kernel_impl.h.

The documentation for this class was generated from the following file:

Public Member Functions