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fix a misnomer, replace "Mahalanobis" with "distance" in noiseModel::Base

release/4.3a0
Yong-Dian Jian 2011-09-05 00:14:16 +00:00
parent 4d24f2af80
commit 5c6b6e2eb9
2 changed files with 8 additions and 7 deletions
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13
gtsam/linear/NoiseModel.h
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@ -75,10 +75,7 @@ namespace gtsam {
*/ */
virtual Vector unwhiten(const Vector& v) const = 0; virtual Vector unwhiten(const Vector& v) const = 0;
/** virtual double distance(const Vector& v) const = 0;
* Mahalanobis distance v'*R'*R*v = <R*v,R*v>
*/
virtual double Mahalanobis(const Vector& v) const = 0;
virtual void WhitenSystem(Matrix& A, Vector& b) const = 0; virtual void WhitenSystem(Matrix& A, Vector& b) const = 0;
virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const = 0; virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const = 0;
@ -168,6 +165,10 @@ namespace gtsam {
*/ */
virtual double Mahalanobis(const Vector& v) const; virtual double Mahalanobis(const Vector& v) const;
inline virtual double distance(const Vector& v) const {
return Mahalanobis(v);
}
/** /**
* Multiply a derivative with R (derivative of whiten) * Multiply a derivative with R (derivative of whiten)
* Equivalent to whitening each column of the input matrix. * Equivalent to whitening each column of the input matrix.
@ -591,8 +592,8 @@ namespace gtsam {
{ return noise_->whiten(v); } { return noise_->whiten(v); }
inline virtual Vector unwhiten(const Vector& v) const inline virtual Vector unwhiten(const Vector& v) const
{ return noise_->unwhiten(v); } { return noise_->unwhiten(v); }
inline virtual double Mahalanobis(const Vector& v) const inline virtual double distance(const Vector& v) const
{ return noise_->Mahalanobis(v); } { return noise_->distance(v); }
virtual void WhitenSystem(Matrix& A, Vector& b) const ; virtual void WhitenSystem(Matrix& A, Vector& b) const ;
virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const ; virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const ;
virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const;

2
gtsam/nonlinear/NonlinearFactor.h
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@ -217,7 +217,7 @@ namespace gtsam {
* to transform it to (h(x)-z)^2/sigma^2, and then multiply by 0.5. * to transform it to (h(x)-z)^2/sigma^2, and then multiply by 0.5.
*/ */
virtual double error(const VALUES& c) const { virtual double error(const VALUES& c) const {
return 0.5 * noiseModel_->Mahalanobis(unwhitenedError(c)); return 0.5 * noiseModel_->distance(unwhitenedError(c));
} }
private: private: