Visual Servoing Platform version 3.6.0
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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
46int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
47 double *wa);
48
49double VISP_EXPORT enorm(const double *x, int n);
50
51int 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
54double VISP_EXPORT pythag(double a, double b);
55
56int 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
59int VISP_EXPORT qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, double *x, double *sdiag,
60 double *wa);
61
62int 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
68int 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