Class DCSLoss

include/error_models/LossFunction.h:51–61

\brief The robust Dynamic Covariance Scaling loss function * Based on: * P. Agarwal, G. D. Tipaldi, L. Spinello, C. Stachniss and W. Burgard * "Robust map optimization using dynamic covariance scaling" * 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013 * DOI: 10.1109/ICRA.2013.6630557 * * \param Phi Tuning parameter of DCS * */

   *
   */
  class DCSLoss : public LossFunction
  {
  public:
      explicit DCSLoss(double Phi) : Phi_(Phi) {};
      ~DCSLoss(){};

      virtual void Evaluate(double, double*) const;

  private:
    const double Phi_;
  };

  /** \brief The robust closed form of Dynamic Covariance Estimation
   * Based on: