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Wrap mEstimators#117

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varunagrawal merged 17 commits intodevelopborglab/gtsam:developfrom feature/wrap-mestimator-weightborglab/gtsam:feature/wrap-mestimator-weightCopy head branch name to clipboardOct 10, 2019

+383-132

Commits

Commits on Sep 26, 2019

• wrapped more mEstimators as well as their weight functions

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• added script to visualize values of different mEstimators

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• different plots for each mEstimator

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• Fixed comment

  

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• renamed global variables in smallExample.h and added optional noise model parameters

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• improve m-estimator visualization code

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• fixed function declarations which use globally declared noise models

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Commits on Oct 2, 2019

• implemented residual functions for common M-estimators and added corresponding tests

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Commits on Oct 8, 2019

• label subplots for each estimator and hyphenate Geman-McClure

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Commits on Oct 9, 2019

• Robust Estimator Updates

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• removed const declarator from and functions, implemented DCS residual

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• added DCS residual tests

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• wrap DCS and L2WithDeadZone estimators

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• added override keyword to derived versions of and for mEstimators

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• formatting; removed virtual from derived classes; added default values for L2WithDeadZone constructor to allow serialization

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• add residual function for Fair mEstimator wrapper

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• cleaned up Matlab script for visualizing mEstimators

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