// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_ROBUST_KERNEL_IMPL_H
#define G2O_ROBUST_KERNEL_IMPL_H

#include "g2o_core_api.h"
#include "robust_kernel.h"

namespace g2o {

/**
 * \brief scale a robust kernel to another delta (window size)
 *
 * Scales a robust kernel to another window size. Useful, in case if
 * one implements a kernel which only is designed for a fixed window
 * size.
 */
class G2O_CORE_API RobustKernelScaleDelta : public RobustKernel {
 public:
  /**
   * construct the scaled kernel ontop of another kernel which might be shared
   * across several scaled kernels
   */
  explicit RobustKernelScaleDelta(const RobustKernelPtr& kernel,
                                  double delta = 1.);
  explicit RobustKernelScaleDelta(double delta = 1.);

  //! return the underlying kernel
  const RobustKernelPtr kernel() const { return _kernel; }
  //! use another kernel for the underlying operation
  void setKernel(const RobustKernelPtr& ptr);

  void robustify(double error, Vector3& rho) const;

 protected:
  RobustKernelPtr _kernel;
};

/**
 * \brief Huber Cost Function
 *
 * Loss function as described by Huber
 * See http://en.wikipedia.org/wiki/Huber_loss_function
 *
 * If e^(1/2) < d
 * rho(e) = e
 *
 * else
 *
 *               1/2    2
 * rho(e) = 2 d e    - d
 */
class G2O_CORE_API RobustKernelHuber : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Pseudo Huber Cost Function
 *
 * The smooth pseudo huber cost function:
 * See http://en.wikipedia.org/wiki/Huber_loss_function
 *
 *    2       e
 * 2 d  (sqrt(-- + 1) - 1)
 *             2
 *            d
 */
class G2O_CORE_API RobustKernelPseudoHuber : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Cauchy cost function
 *
 *  2     e
 * d  log(-- + 1)
 *         2
 *        d
 */
class G2O_CORE_API RobustKernelCauchy : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Geman-McClure cost function
 *
 * See
 * http://research.microsoft.com/en-us/um/people/zhang/Papers/ZhangIVC-97-01.pdf
 * and
 * http://www2.informatik.uni-freiburg.de/~agarwal/resources/agarwal-thesis.pdf
 *    e2
 *  -----
 *  e2 + 1
 */
class G2O_CORE_API RobustKernelGemanMcClure : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Welsch cost function
 *
 * See
 * http://research.microsoft.com/en-us/um/people/zhang/Papers/ZhangIVC-97-01.pdf
 *
 * d^2 [1 - exp(- e2/d^2)]
 *
 */
class G2O_CORE_API RobustKernelWelsch : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Fair cost function
 *
 * See
 * http://research.microsoft.com/en-us/um/people/zhang/Papers/ZhangIVC-97-01.pdf
 *
 * 2 * d^2 [e2 / d - log (1 + e2 / d)]
 *
 */
class G2O_CORE_API RobustKernelFair : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Tukey Cost Function
 *
 * See
 * http://research.microsoft.com/en-us/um/people/zhang/Papers/ZhangIVC-97-01.pdf
 *
 * If e2^(1/2) <= d
 * rho(e) = d^2 * (1 - ( 1 - e2 / d^2)^3) / 3
 *
 * else
 *
 * rho(e) = d^2 / 3
 */
class G2O_CORE_API RobustKernelTukey : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Saturated cost function.
 *
 * The error is at most delta^2
 */
class G2O_CORE_API RobustKernelSaturated : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};

/**
 * \brief Dynamic covariance scaling - DCS
 *
 * See paper Robust Map Optimization from Agarwal et al.  ICRA 2013
 *
 * delta is used as $phi$
 */
class G2O_CORE_API RobustKernelDCS : public RobustKernel {
 public:
  virtual void robustify(double e2, Vector3& rho) const;
};
}  // end namespace g2o

#endif
