BIRDy/Benchmark/Robot_Identification_Algori.../Utils/weightFunction.m

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2021-04-29 09:42:38 +00:00
function [Psi] = weightFunction(Residual, threshold)
% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
%
% Gives the updated weight vector defined in the approach of Han et al. (2020). This is used for IRLS computation.
Psi = (Residual<threshold*ones(size(Residual)))&(Residual>-threshold*ones(size(Residual)));
end