robust_kernel_impl.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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
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#ifndef G2O_ROBUST_KERNEL_IMPL_H
#define G2O_ROBUST_KERNEL_IMPL_H
 
#include "g2o_core_api.h"
#include "robust_kernel.h"
 
namespace g2o {

class G2O_CORE_API RobustKernelScaleDelta : public RobustKernel {
 public:
  explicit RobustKernelScaleDelta(const RobustKernelPtr& kernel,
                                  double delta = 1.);
  explicit RobustKernelScaleDelta(double delta = 1.);

  const RobustKernelPtr kernel() const { return _kernel; }
  void setKernel(const RobustKernelPtr& ptr);
 
  void robustify(double error, Vector3& rho) const;
 
 protected:
  RobustKernelPtr _kernel;
};

class G2O_CORE_API RobustKernelHuber : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelPseudoHuber : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelCauchy : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelGemanMcClure : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelWelsch : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelFair : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelTukey : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelSaturated : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

class G2O_CORE_API RobustKernelDCS : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};
}  // end namespace g2o
 
#endif