Visual Servoing Platform  version 3.0.0
vpLevenbergMarquartd.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Levenberg Marquartd.
32  *
33  * Authors:
34  * Eric Marchand
35  * Francois Chaumette
36  *
37  *****************************************************************************/
38 
39 
40 #ifndef vpLevenbergMarquartd_h
41 #define vpLevenbergMarquartd_h
42 
43 #include <visp3/core/vpConfig.h>
44 #include <visp3/core/vpMath.h>
45 
46 #include <stdio.h>
47 #include <errno.h>
48 #include <math.h>
49 #include <stdlib.h>
50 #include <float.h>
51 
52 int VISP_EXPORT
53 qrsolv (int n, double *r, int ldr, int *ipvt, double *diag,
54  double *qtb, double *x, double *sdiag, double *wa) ;
55 
56 double VISP_EXPORT
57 enorm (const double *x, int n);
58 
59 int VISP_EXPORT
60 lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
61  double *delta, double *par, double *x, double *sdiag, double *wa1,
62  double *wa2);
63 
64 double VISP_EXPORT
65 pythag (double a, double b);
66 
67 int VISP_EXPORT
68 qrfac(int m, int n, double *a, int lda, int *pivot, int *ipvt,
69  int lipvt, double *rdiag, double *acnorm, double *wa);
70 
71 int VISP_EXPORT
72 qrsolv (int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
73  double *x, double *sdiag, double *wa);
74 
75 int VISP_EXPORT
76 lmder (void (*ptr_fcn)(int m, int n, double *xc, double *fvecc,
77  double *jac, int ldfjac, int iflag),
78  int m, int n, double *x,
79  double *fvec, double *fjac, int ldfjac, double ftol, double xtol,
80  double gtol, unsigned int maxfev, double *diag, int mode,
81  const double factor, int nprint, int *info, unsigned int *nfev,
82  int *njev, int *ipvt, double *qtf, double *wa1, double *wa2,
83  double *wa3, double *wa4);
84 
85 int VISP_EXPORT
86 lmder1 (void (*ptr_fcn)(int m, int n, double *xc, double *fvecc,
87  double *jac, int ldfjac, int iflag),
88  int m, int n, double *x, double *fvec, double *fjac,
89  int ldfjac, double tol, int *info, int *ipvt, int lwa, double *wa);
90 
91 
92 #endif
93 
94 /*
95  * Local variables:
96  * c-basic-offset: 2
97  * End:
98  */
99