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Fixed spelling for Welsch and added to gtsam.h #107

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merged 3 commits into from
Sep 7, 2019
Merged

Fixed spelling for Welsch and added to gtsam.h #107

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2f8238a
Fixed spelling for Welsch and added to gtsam.h
Aug 29, 2019
87c336f
Added Welsch model to gtsam.h
Aug 29, 2019
f72322c
Added old code back wrapped in deprecated flag
Sep 2, 2019
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16 changes: 8 additions & 8 deletions gtsam/linear/NoiseModel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -808,22 +808,22 @@ Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) {
}

/* ************************************************************************* */
// Welsh
// Welsch
/* ************************************************************************* */
Welsh::Welsh(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {}
Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {}

void Welsh::print(const std::string &s="") const {
std::cout << s << ": Welsh (" << c_ << ")" << std::endl;
void Welsch::print(const std::string &s="") const {
std::cout << s << ": Welsch (" << c_ << ")" << std::endl;
}

bool Welsh::equals(const Base &expected, double tol) const {
const Welsh* p = dynamic_cast<const Welsh*>(&expected);
bool Welsch::equals(const Base &expected, double tol) const {
const Welsch* p = dynamic_cast<const Welsch*>(&expected);
if (p == NULL) return false;
return std::abs(c_ - p->c_) < tol;
}

Welsh::shared_ptr Welsh::Create(double c, const ReweightScheme reweight) {
return shared_ptr(new Welsh(c, reweight));
Welsch::shared_ptr Welsch::Create(double c, const ReweightScheme reweight) {
return shared_ptr(new Welsch(c, reweight));
}

/* ************************************************************************* */
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8 changes: 4 additions & 4 deletions gtsam/linear/NoiseModel.h
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Expand Up @@ -852,15 +852,15 @@ namespace gtsam {
}
};

/// Welsh implements the "Welsh" robust error model (Zhang97ivc)
class GTSAM_EXPORT Welsh : public Base {
/// Welsch implements the "Welsch" robust error model (Zhang97ivc)
class GTSAM_EXPORT Welsch : public Base {
protected:
double c_, csquared_;

public:
typedef boost::shared_ptr<Welsh> shared_ptr;
typedef boost::shared_ptr<Welsch> shared_ptr;

Welsh(double c = 2.9846, const ReweightScheme reweight = Block);
Welsch(double c = 2.9846, const ReweightScheme reweight = Block);
double weight(double error) const {
double xc2 = (error*error)/csquared_;
return std::exp(-xc2);
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