Visual Servoing Platform  version 3.5.1 under development (2023-09-22)
vpLevenbergMarquartd.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
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 https://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 
34 #ifndef vpLevenbergMarquartd_h
35 #define vpLevenbergMarquartd_h
36 
37 #include <visp3/core/vpConfig.h>
38 #include <visp3/core/vpMath.h>
39 
40 #include <errno.h>
41 #include <float.h>
42 #include <math.h>
43 #include <stdio.h>
44 #include <stdlib.h>
45 
46 int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
47  double *wa);
48 
49 double VISP_EXPORT enorm(const double *x, int n);
50 
51 int VISP_EXPORT lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *delta, double *par,
52  double *x, double *sdiag, double *wa1, double *wa2);
53 
54 double VISP_EXPORT pythag(double a, double b);
55 
56 int VISP_EXPORT qrfac(int m, int n, double *a, int lda, int *pivot, int *ipvt, int lipvt, double *rdiag, double *acnorm,
57  double *wa);
58 
59 int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
60  double *wa);
61 
62 int VISP_EXPORT lmder(void (*ptr_fcn)(int m, int n, double *xc, double *fvecc, double *jac, int ldfjac, int iflag),
63  int m, int n, double *x, double *fvec, double *fjac, int ldfjac, double ftol, double xtol,
64  double gtol, unsigned int maxfev, double *diag, int mode, const double factor, int nprint,
65  int *info, unsigned int *nfev, int *njev, int *ipvt, double *qtf, double *wa1, double *wa2,
66  double *wa3, double *wa4);
67 
68 int VISP_EXPORT lmder1(void (*ptr_fcn)(int m, int n, double *xc, double *fvecc, double *jac, int ldfjac, int iflag),
69  int m, int n, double *x, double *fvec, double *fjac, int ldfjac, double tol, int *info,
70  int *ipvt, int lwa, double *wa);
71 
72 #endif