MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes
mrpt::math::RobustKernel< rkPseudoHuber, T > Struct Template Reference

Detailed Description

template<typename T>
struct mrpt::math::RobustKernel< rkPseudoHuber, T >

Pseudo-huber robust kernel: rho(r) = 2 * delta^2 * ( -1+sqrt( 1+ r^2/delta^2 ) )

Definition at line 57 of file robust_kernels.h.

#include <mrpt/math/robust_kernels.h>

Public Member Functions

eval (const T r2, T &out_1st_deriv, T &out_2nd_deriv)
 Evaluates the kernel function for the squared error r2 and returns robustified squared error and derivatives of sqrt(2*rho(r)) at this point. More...
 

Public Attributes

param_sq
 The kernel parameter (the "threshold") squared. More...
 

Member Function Documentation

◆ eval()

template<typename T >
T mrpt::math::RobustKernel< rkPseudoHuber, T >::eval ( const T  r2,
T &  out_1st_deriv,
T &  out_2nd_deriv 
)
inline

Evaluates the kernel function for the squared error r2 and returns robustified squared error and derivatives of sqrt(2*rho(r)) at this point.

Definition at line 65 of file robust_kernels.h.

Member Data Documentation

◆ param_sq

template<typename T >
T mrpt::math::RobustKernel< rkPseudoHuber, T >::param_sq

The kernel parameter (the "threshold") squared.

Definition at line 60 of file robust_kernels.h.




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