Visual Servoing Platform  version 3.5.1 under development (2022-10-02)
vpLevenbergMarquartd.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Levenberg Marquartd.
33  *
34  * Authors:
35  * Eric Marchand
36  * Francois Chaumette
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 <errno.h>
47 #include <float.h>
48 #include <math.h>
49 #include <stdio.h>
50 #include <stdlib.h>
51 
52 int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
53  double *wa);
54 
55 double VISP_EXPORT enorm(const double *x, int n);
56 
57 int VISP_EXPORT lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *delta, double *par,
58  double *x, double *sdiag, double *wa1, double *wa2);
59 
60 double VISP_EXPORT pythag(double a, double b);
61 
62 int VISP_EXPORT qrfac(int m, int n, double *a, int lda, int *pivot, int *ipvt, int lipvt, double *rdiag, double *acnorm,
63  double *wa);
64 
65 int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
66  double *wa);
67 
68 int VISP_EXPORT lmder(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 ftol, double xtol,
70  double gtol, unsigned int maxfev, double *diag, int mode, const double factor, int nprint,
71  int *info, unsigned int *nfev, int *njev, int *ipvt, double *qtf, double *wa1, double *wa2,
72  double *wa3, double *wa4);
73 
74 int VISP_EXPORT lmder1(void (*ptr_fcn)(int m, int n, double *xc, double *fvecc, double *jac, int ldfjac, int iflag),
75  int m, int n, double *x, double *fvec, double *fjac, int ldfjac, double tol, int *info,
76  int *ipvt, int lwa, double *wa);
77 
78 #endif
79 
80 /*
81  * Local variables:
82  * c-basic-offset: 2
83  * End:
84  */