00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2008 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CLevenbergMarquardt_H 00029 #define CLevenbergMarquardt_H 00030 00031 #include <mrpt/utils/CDebugOutputCapable.h> 00032 #include <mrpt/math/CMatrixD.h> 00033 00034 /*--------------------------------------------------------------- 00035 Class 00036 ---------------------------------------------------------------*/ 00037 namespace mrpt 00038 { 00039 namespace math 00040 { 00046 class MRPTDLLIMPEXP CLevenbergMarquardt : public mrpt::utils::CDebugOutputCapable 00047 { 00048 public: 00049 00050 struct TResultInfo 00051 { 00052 double final_sqr_err; 00053 size_t iterations_executed; 00054 CMatrixD path; 00055 }; 00056 00063 static void execute( 00064 vector_double &out_optimal_x, 00065 const vector_double &x0, 00066 utils::TFunctor_retVecDbl_inp2VecDbl functor, 00067 const vector_double &increments, 00068 const vector_double &userParam, 00069 TResultInfo &out_info, 00070 bool verbose = false, 00071 const size_t &maxIter = 200, 00072 const double tau = 1e-3, 00073 const double e1 = 1e-8, 00074 const double e2 = 1e-8 00075 ); 00076 00077 00078 }; // End of class def. 00079 00080 } // End of namespace 00081 } // End of namespace 00082 #endif
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