robust_kernel.h

#pragma once
#include "DLLInfo.h"
#include <Eigen/Core>
 
 
namespace NDEVR {

    class  RobustKernel
    {
    public:
        RobustKernel()
            :_delta(1.)
        {}
        explicit RobustKernel(g_type delta)
            : _delta(delta)
        {}
        virtual ~RobustKernel() {}
        virtual void robustify(g_type squaredError, Eigen::Vector3<g_type>& rho) const = 0;

        virtual void setDelta(g_type delta)
        {
            _delta = delta;
        }

        g_type delta() const { return _delta; }
 
    protected:
        g_type _delta = 1.0;    
    };
    typedef std::shared_ptr<RobustKernel> RobustKernelPtr;  
 
}