robust_kernel.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_ROBUST_KERNEL_H
#define G2O_ROBUST_KERNEL_H
 
#include <memory>
 
#include "g2o/core/eigen_types.h"
#include "g2o_core_api.h"
 
namespace g2o {

class G2O_CORE_API RobustKernel {
 public:
  RobustKernel();
  explicit RobustKernel(double delta);
  virtual ~RobustKernel() {}
  virtual void robustify(double squaredError, Vector3& rho) const = 0;

  virtual void setDelta(double delta);
  double delta() const { return _delta; }
 
 protected:
  double _delta;
};
typedef std::shared_ptr<RobustKernel> RobustKernelPtr;
 
}  // end namespace g2o
 
#endif