00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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 template <typename NUMTYPE = double> 00047 class MRPTDLLIMPEXP CLevenbergMarquardtTempl : public mrpt::utils::CDebugOutputCapable 00048 { 00049 public: 00050 00052 typedef void (*TFunctor)(const std::vector<NUMTYPE> &x,const std::vector<NUMTYPE> &y, std::vector<NUMTYPE> &out); 00053 00054 struct TResultInfo 00055 { 00056 NUMTYPE final_sqr_err; 00057 size_t iterations_executed; 00058 CMatrixTemplateNumeric<NUMTYPE> path; 00059 }; 00060 00067 static void execute( 00068 std::vector<NUMTYPE> &out_optimal_x, 00069 const std::vector<NUMTYPE> &x0, 00070 TFunctor functor, 00071 const std::vector<NUMTYPE> &increments, 00072 const std::vector<NUMTYPE> &userParam, 00073 TResultInfo &out_info, 00074 bool verbose = false, 00075 const size_t &maxIter = 200, 00076 const NUMTYPE tau = 1e-3, 00077 const NUMTYPE e1 = 1e-8, 00078 const NUMTYPE e2 = 1e-8 00079 ); 00080 00081 }; // End of class def. 00082 00083 00084 typedef CLevenbergMarquardtTempl<double> CLevenbergMarquardt; 00085 00086 } // End of namespace 00087 } // End of namespace 00088 #endif
Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN: at Sun Aug 9 21:47:23 CEST 2009 |