Tukey Cost Function. More...

Inheritance diagram for RobustKernelTukey:

Collaboration diagram for RobustKernelTukey:

Public Member Functions
	RobustKernelTukey ()
	Default constructor with unit delta.
virtual void	robustify (g_type e2, Eigen::Vector3< g_type > &rho) const
	Computes the Tukey robustification.
virtual void	setDeltaSqr (g_type deltaSqr, g_type inv)
	Sets the squared delta and its inverse.
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

Tukey Cost Function.

If e^(1/2) < d rho(e) = delta2(1-(1-e/delta2)^3)

else

rho(e) = delta2

Definition at line 82 of file robust_kernel_impl.h.

Member Function Documentation

virtual void RobustKernelTukey::robustify	(	g_type	e2,
		Eigen::Vector3< g_type > &	rho ) const

virtual

Computes the Tukey robustification.

Parameters

[in]	e2	The squared error.
[out]	rho	The output rho vector.

virtual void RobustKernelTukey::setDeltaSqr	(	g_type	deltaSqr,
		g_type	inv )

virtual

Sets the squared delta and its inverse.

Parameters

[in]	deltaSqr	The squared threshold.
[in]	inv	The inverse of the squared threshold.

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