robust_kernel_impl.h

#pragma once
#include "Base/Headers/BaseValues.hpp"
#include "robust_kernel.h"
 
namespace NDEVR {

    class RobustKernelScaleDelta : public RobustKernel
    {
    public:
        explicit RobustKernelScaleDelta(const RobustKernelPtr& kernel, g_type delta = 1.);
        explicit RobustKernelScaleDelta(g_type delta = 1.);

        const RobustKernelPtr kernel() const { return _kernel; }
        void setKernel(const RobustKernelPtr& ptr);
 
        void robustify(g_type error, Eigen::Vector3<g_type>& rho) const final override;
 
    protected:
        RobustKernelPtr _kernel;
    };

  class  RobustKernelHuber : public RobustKernel
  {
    public:
      RobustKernelHuber(g_type delta);
      virtual void setDelta(g_type delta) override;
      virtual void setDeltaSqr(const g_type &delta, const g_type &deltaSqr);
      virtual void robustify(g_type e2, Eigen::Vector3<g_type>& rho) const final override;
 
    private:
      g_type dsqr;  
  };

  class  RobustKernelTukey : public RobustKernel
  {
    public:
      RobustKernelTukey() : _deltaSqr(g_type(1.0)), _invDeltaSqr(g_type(1.0)) {}
      virtual void setDeltaSqr(g_type deltaSqr, g_type inv);
      virtual void robustify(g_type e2, Eigen::Vector3<g_type>& rho) const;
    private:
        g_type _deltaSqr;       
        g_type _invDeltaSqr;    
  };
 

  class  RobustKernelPseudoHuber : public RobustKernel
  {
    public:
      virtual void robustify(g_type e2, Eigen::Vector3<g_type>& rho) const;
  };

  class  RobustKernelCauchy : public RobustKernel
  {
    public:
      virtual void robustify(g_type e2, Eigen::Vector3<g_type>& rho) const;
  };

  class  RobustKernelSaturated : public RobustKernel
  {
    public:
      virtual void robustify(g_type e2, Eigen::Vector3<g_type>& rho) const;
  };

  class  RobustKernelDCS : public RobustKernel
  {
    public:
      virtual void robustify(g_type e2, Eigen::Vector3<g_type>& rho) const;
  };
 
} // end namespace NDEVR