Visual Servoing Platform version 3.5.0
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
52int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
53 double *wa);
54
55double VISP_EXPORT enorm(const double *x, int n);
56
57int 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
60double VISP_EXPORT pythag(double a, double b);
61
62int 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
65int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
66 double *wa);
67
68int 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
74int 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 */