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<div class="title">LevenbergMarquardt/LevenbergMarquardt.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr></span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// The algorithm of this class initially comes from MINPACK whose original authors are:</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// Copyright Jorge More - Argonne National Laboratory</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// Copyright Burt Garbow - Argonne National Laboratory</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// Copyright Ken Hillstrom - Argonne National Laboratory</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">//</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// This Source Code Form is subject to the terms of the Minpack license</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">//</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#ifndef EIGEN_LEVENBERGMARQUARDT_H</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_LEVENBERGMARQUARDT_H</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">namespace </span>Eigen {</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">namespace </span>LevenbergMarquardtSpace {</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">enum</span> Status {</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  NotStarted = -2,</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  Running = -1,</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ImproperInputParameters = 0,</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  RelativeReductionTooSmall = 1,</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  RelativeErrorTooSmall = 2,</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  RelativeErrorAndReductionTooSmall = 3,</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  CosinusTooSmall = 4,</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  TooManyFunctionEvaluation = 5,</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  FtolTooSmall = 6,</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  XtolTooSmall = 7,</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  GtolTooSmall = 8,</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  UserAsked = 9</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  };</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> }</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> NX=Dynamic, <span class="keywordtype">int</span> NY=Dynamic></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">struct </span>DenseFunctor</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">typedef</span> _Scalar Scalar;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  InputsAtCompileTime = NX,</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  ValuesAtCompileTime = NY</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  };</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">typedef</span> Matrix<Scalar,InputsAtCompileTime,1> InputType;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">typedef</span> Matrix<Scalar,ValuesAtCompileTime,1> ValueType;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">typedef</span> Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">typedef</span> ColPivHouseholderQR<JacobianType> QRSolver;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> m_inputs, m_values;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  DenseFunctor() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  DenseFunctor(<span class="keywordtype">int</span> inputs, <span class="keywordtype">int</span> values) : m_inputs(inputs), m_values(values) {}</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">int</span> inputs()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_inputs; }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">int</span> values()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_values; }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">//int operator()(const InputType &x, ValueType& fvec) { }</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">// should be defined in derived classes</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">//int df(const InputType &x, JacobianType& fjac) { }</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">// should be defined in derived classes</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> };</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keyword">typename</span> _Index></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">struct </span>SparseFunctor</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">typedef</span> _Scalar Scalar;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">typedef</span> _Index Index;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">typedef</span> Matrix<Scalar,Dynamic,1> InputType;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">typedef</span> Matrix<Scalar,Dynamic,1> ValueType;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">typedef</span> SparseMatrix<Scalar, ColMajor, Index> JacobianType;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">typedef</span> SparseQR<JacobianType, COLAMDOrdering<int> > QRSolver;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  InputsAtCompileTime = Dynamic,</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  ValuesAtCompileTime = Dynamic</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  };</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  SparseFunctor(<span class="keywordtype">int</span> inputs, <span class="keywordtype">int</span> values) : m_inputs(inputs), m_values(values) {}</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">int</span> inputs()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_inputs; }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">int</span> values()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_values; }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> m_inputs, m_values;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">//int operator()(const InputType &x, ValueType& fvec) { }</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">// to be defined in the functor</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">//int df(const InputType &x, JacobianType& fjac) { }</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="comment">// to be defined in the functor if no automatic differentiation</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> };</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="keyword">template</span> <<span class="keyword">typename</span> QRSolver, <span class="keyword">typename</span> VectorType></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">void</span> lmpar2(<span class="keyword">const</span> QRSolver &qr, <span class="keyword">const</span> VectorType &diag, <span class="keyword">const</span> VectorType &qtb,</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">typename</span> VectorType::Scalar m_delta, <span class="keyword">typename</span> VectorType::Scalar &par,</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  VectorType &x);</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="keyword">template</span><<span class="keyword">typename</span> _FunctorType></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html"> 110</a></span> <span class="keyword">class </span><a class="code" href="classEigen_1_1LevenbergMarquardt.html">LevenbergMarquardt</a> : internal::no_assignment_operator</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">typedef</span> _FunctorType FunctorType;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> FunctorType::QRSolver QRSolver;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> FunctorType::JacobianType JacobianType;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> JacobianType::Scalar Scalar;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> JacobianType::RealScalar RealScalar; </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> JacobianType::Index Index;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> QRSolver::Index PermIndex;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keyword">typedef</span> Matrix<Scalar,Dynamic,1> FVectorType;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">typedef</span> PermutationMatrix<Dynamic,Dynamic> PermutationType;</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classEigen_1_1LevenbergMarquardt.html">LevenbergMarquardt</a>(FunctorType& functor) </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  : m_functor(functor),m_nfev(0),m_njev(0),m_fnorm(0.0),m_gnorm(0),</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  m_isInitialized(<span class="keyword">false</span>),m_info(InvalidInput)</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="classEigen_1_1LevenbergMarquardt.html#af52cd5af951ff74e784deeadecf73552">resetParameters</a>();</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  m_useExternalScaling=<span class="keyword">false</span>; </div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  LevenbergMarquardtSpace::Status minimize(FVectorType &x);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  LevenbergMarquardtSpace::Status minimizeInit(FVectorType &x);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  LevenbergMarquardtSpace::Status minimizeOneStep(FVectorType &x);</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  LevenbergMarquardtSpace::Status lmder1(</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  FVectorType &x, </div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keyword">const</span> Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  );</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">static</span> LevenbergMarquardtSpace::Status lmdif1(</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  FunctorType &functor,</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  FVectorType &x,</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  Index *<a class="code" href="classEigen_1_1LevenbergMarquardt.html#ad39de8ec664e09b12b528b4d8cdffc8c">nfev</a>,</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keyword">const</span> Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  );</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#af52cd5af951ff74e784deeadecf73552"> 146</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#af52cd5af951ff74e784deeadecf73552">resetParameters</a>() </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  { </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  m_factor = 100.; </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  m_maxfev = 400; </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  m_ftol = std::sqrt(NumTraits<RealScalar>::epsilon());</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  m_xtol = std::sqrt(NumTraits<RealScalar>::epsilon());</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  m_gtol = 0. ; </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  m_epsfcn = 0. ;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a85ef3a396655cdaded53650971dda177"> 157</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a85ef3a396655cdaded53650971dda177">setXtol</a>(RealScalar xtol) { m_xtol = xtol; }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a20efa2f5a684efaf2499ba5bdd51e792"> 160</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a20efa2f5a684efaf2499ba5bdd51e792">setFtol</a>(RealScalar ftol) { m_ftol = ftol; }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#afe5c8e692208d989449d3b83807acfe7"> 163</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#afe5c8e692208d989449d3b83807acfe7">setGtol</a>(RealScalar gtol) { m_gtol = gtol; }</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a20fae6c5fa1f67f4bf3973547ba82735"> 166</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a20fae6c5fa1f67f4bf3973547ba82735">setFactor</a>(RealScalar factor) { m_factor = factor; } </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#ab4d7ae29dba1488e74da64faaf9f7ea0"> 169</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#ab4d7ae29dba1488e74da64faaf9f7ea0">setEpsilon</a> (RealScalar epsfcn) { m_epsfcn = epsfcn; }</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a17beb283813bbbc4b946d962c75dd1dd"> 172</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a17beb283813bbbc4b946d962c75dd1dd">setMaxfev</a>(Index maxfev) {m_maxfev = maxfev; }</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a0f79478b8d636b815751fe0ea8c56b58"> 175</a></span>  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a0f79478b8d636b815751fe0ea8c56b58">setExternalScaling</a>(<span class="keywordtype">bool</span> value) {m_useExternalScaling = value; }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a937987337a0875eee70a181a02cb9122"> 178</a></span>  FVectorType& <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a937987337a0875eee70a181a02cb9122">diag</a>() {<span class="keywordflow">return</span> m_diag; }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#af30ae57fc2b4e8bf3db78546c88b16fd"> 181</a></span>  Index <a class="code" href="classEigen_1_1LevenbergMarquardt.html#af30ae57fc2b4e8bf3db78546c88b16fd">iterations</a>() { <span class="keywordflow">return</span> m_iter; }</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#ad39de8ec664e09b12b528b4d8cdffc8c"> 184</a></span>  Index <a class="code" href="classEigen_1_1LevenbergMarquardt.html#ad39de8ec664e09b12b528b4d8cdffc8c">nfev</a>() { <span class="keywordflow">return</span> m_nfev; }</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a4ec1e17c7206359b96335f2c0744a783"> 187</a></span>  Index <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a4ec1e17c7206359b96335f2c0744a783">njev</a>() { <span class="keywordflow">return</span> m_njev; }</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a09f0a7a9fefa463f4415e386922b3b48"> 190</a></span>  RealScalar <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a09f0a7a9fefa463f4415e386922b3b48">fnorm</a>() {<span class="keywordflow">return</span> m_fnorm; }</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#ac4b9a92a37e8f656a9bc7f222d3f1d3b"> 193</a></span>  RealScalar <a class="code" href="classEigen_1_1LevenbergMarquardt.html#ac4b9a92a37e8f656a9bc7f222d3f1d3b">gnorm</a>() {<span class="keywordflow">return</span> m_gnorm; }</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#aa6d934df3d16027df0d0100cca3841fe"> 196</a></span>  RealScalar <a class="code" href="classEigen_1_1LevenbergMarquardt.html#aa6d934df3d16027df0d0100cca3841fe">lm_param</a>(<span class="keywordtype">void</span>) { <span class="keywordflow">return</span> m_par; }</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a8407d07d45184a84310dfaa297ca9425"> 200</a></span>  FVectorType& <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a8407d07d45184a84310dfaa297ca9425">fvec</a>() {<span class="keywordflow">return</span> m_fvec; }</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  </div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a25db3205d4c857ff01b227fa9ba1e91f"> 204</a></span>  JacobianType& <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a25db3205d4c857ff01b227fa9ba1e91f">jacobian</a>() {<span class="keywordflow">return</span> m_fjac; }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a021e06e5e35dcff2b1e523df44ecb90b"> 209</a></span>  JacobianType& <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a021e06e5e35dcff2b1e523df44ecb90b">matrixR</a>() {<span class="keywordflow">return</span> m_rfactor; }</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#afb981cc5d4a68f39d4ffd8a681f4ed81"> 213</a></span>  PermutationType <a class="code" href="classEigen_1_1LevenbergMarquardt.html#afb981cc5d4a68f39d4ffd8a681f4ed81">permutation</a>() {<span class="keywordflow">return</span> m_permutation; }</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classEigen_1_1LevenbergMarquardt.html#a0c06d5c2034ebb329c54235369643ad2"> 224</a></span>  ComputationInfo <a class="code" href="classEigen_1_1LevenbergMarquardt.html#a0c06d5c2034ebb329c54235369643ad2">info</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">return</span> m_info;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  JacobianType m_fjac; </div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  JacobianType m_rfactor; <span class="comment">// The triangular matrix R from the QR of the jacobian matrix m_fjac</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  FunctorType &m_functor;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  FVectorType m_fvec, m_qtf, m_diag; </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  Index n;</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  Index m; </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  Index m_nfev;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  Index m_njev; </div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  RealScalar m_fnorm; <span class="comment">// Norm of the current vector function</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  RealScalar m_gnorm; <span class="comment">//Norm of the gradient of the error </span></div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  RealScalar m_factor; <span class="comment">//</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  Index m_maxfev; <span class="comment">// Maximum number of function evaluation</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  RealScalar m_ftol; <span class="comment">//Tolerance in the norm of the vector function</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  RealScalar m_xtol; <span class="comment">// </span></div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  RealScalar m_gtol; <span class="comment">//tolerance of the norm of the error gradient</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  RealScalar m_epsfcn; <span class="comment">//</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  Index m_iter; <span class="comment">// Number of iterations performed</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  RealScalar m_delta;</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">bool</span> m_useExternalScaling;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  PermutationType m_permutation;</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  FVectorType m_wa1, m_wa2, m_wa3, m_wa4; <span class="comment">//Temporary vectors</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  RealScalar m_par;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">bool</span> m_isInitialized; <span class="comment">// Check whether the minimization step has been called</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  ComputationInfo m_info; </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> };</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">template</span><<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> LevenbergMarquardtSpace::Status</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> LevenbergMarquardt<FunctorType>::minimize(FVectorType &x)</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> {</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  LevenbergMarquardtSpace::Status status = minimizeInit(x);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">if</span> (status==LevenbergMarquardtSpace::ImproperInputParameters) {</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  m_isInitialized = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">do</span> {</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="comment">// std::cout << " uv " << x.transpose() << "\n";</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  status = minimizeOneStep(x);</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  } <span class="keywordflow">while</span> (status==LevenbergMarquardtSpace::Running);</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  m_isInitialized = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> }</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="keyword">template</span><<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> LevenbergMarquardtSpace::Status</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> LevenbergMarquardt<FunctorType>::minimizeInit(FVectorType &x)</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  n = x.size();</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  m = m_functor.values();</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  m_wa1.resize(n); m_wa2.resize(n); m_wa3.resize(n);</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  m_wa4.resize(m);</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  m_fvec.resize(m);</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="comment">//FIXME Sparse Case : Allocate space for the jacobian</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  m_fjac.resize(m, n);</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="comment">// m_fjac.reserve(VectorXi::Constant(n,5)); // FIXME Find a better alternative</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordflow">if</span> (!m_useExternalScaling)</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  m_diag.resize(n);</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  eigen_assert( (!m_useExternalScaling || m_diag.size()==n) || <span class="stringliteral">"When m_useExternalScaling is set, the caller must provide a valid 'm_diag'"</span>);</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  m_qtf.resize(n);</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="comment">/* Function Body */</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  m_nfev = 0;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  m_njev = 0;</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> </div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="comment">/* check the input parameters for errors. */</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">if</span> (n <= 0 || m < n || m_ftol < 0. || m_xtol < 0. || m_gtol < 0. || m_maxfev <= 0 || m_factor <= 0.){</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  m_info = InvalidInput;</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span> LevenbergMarquardtSpace::ImproperInputParameters;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">if</span> (m_useExternalScaling)</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">for</span> (Index j = 0; j < n; ++j)</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">if</span> (m_diag[j] <= 0.) </div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  {</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  m_info = InvalidInput;</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordflow">return</span> LevenbergMarquardtSpace::ImproperInputParameters;</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  }</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="comment">/* evaluate the function at the starting point */</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="comment">/* and calculate its norm. */</span></div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  m_nfev = 1;</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordflow">if</span> ( m_functor(x, m_fvec) < 0)</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">return</span> LevenbergMarquardtSpace::UserAsked;</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  m_fnorm = m_fvec.stableNorm();</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> </div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="comment">/* initialize levenberg-marquardt parameter and iteration counter. */</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  m_par = 0.;</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  m_iter = 1;</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">return</span> LevenbergMarquardtSpace::NotStarted;</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> }</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> </div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="keyword">template</span><<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> LevenbergMarquardtSpace::Status</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> LevenbergMarquardt<FunctorType>::lmder1(</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  FVectorType &x,</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keyword">const</span> Scalar tol</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  )</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> {</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  n = x.size();</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  m = m_functor.values();</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="comment">/* check the input parameters for errors. */</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">if</span> (n <= 0 || m < n || tol < 0.)</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">return</span> LevenbergMarquardtSpace::ImproperInputParameters;</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> </div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  resetParameters();</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  m_ftol = tol;</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  m_xtol = tol;</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  m_maxfev = 100*(n+1);</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> </div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordflow">return</span> minimize(x);</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> }</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> </div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">template</span><<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> LevenbergMarquardtSpace::Status</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> LevenbergMarquardt<FunctorType>::lmdif1(</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  FunctorType &functor,</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  FVectorType &x,</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  Index *nfev,</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keyword">const</span> Scalar tol</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  )</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> {</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  Index n = x.size();</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  Index m = functor.values();</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> </div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="comment">/* check the input parameters for errors. */</span></div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keywordflow">if</span> (n <= 0 || m < n || tol < 0.)</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keywordflow">return</span> LevenbergMarquardtSpace::ImproperInputParameters;</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> </div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  NumericalDiff<FunctorType> numDiff(functor);</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="comment">// embedded LevenbergMarquardt</span></div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  LevenbergMarquardt<NumericalDiff<FunctorType> > lm(numDiff);</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  lm.setFtol(tol);</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  lm.setXtol(tol);</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  lm.setMaxfev(200*(n+1));</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  LevenbergMarquardtSpace::Status info = LevenbergMarquardtSpace::Status(lm.minimize(x));</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordflow">if</span> (nfev)</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  * nfev = lm.nfev();</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keywordflow">return</span> info;</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> }</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> </div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span> <span class="preprocessor">#endif // EIGEN_LEVENBERGMARQUARDT_H</span></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a8407d07d45184a84310dfaa297ca9425"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a8407d07d45184a84310dfaa297ca9425">Eigen::LevenbergMarquardt::fvec</a></div><div class="ttdeci">FVectorType & fvec()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:200</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a25db3205d4c857ff01b227fa9ba1e91f"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a25db3205d4c857ff01b227fa9ba1e91f">Eigen::LevenbergMarquardt::jacobian</a></div><div class="ttdeci">JacobianType & jacobian()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:204</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html">Eigen::LevenbergMarquardt</a></div><div class="ttdoc">Performs non linear optimization over a non-linear function, using a variant of the Levenberg Marquar...</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:110</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_ab4d7ae29dba1488e74da64faaf9f7ea0"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#ab4d7ae29dba1488e74da64faaf9f7ea0">Eigen::LevenbergMarquardt::setEpsilon</a></div><div class="ttdeci">void setEpsilon(RealScalar epsfcn)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:169</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_ad39de8ec664e09b12b528b4d8cdffc8c"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#ad39de8ec664e09b12b528b4d8cdffc8c">Eigen::LevenbergMarquardt::nfev</a></div><div class="ttdeci">Index nfev()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:184</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a937987337a0875eee70a181a02cb9122"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a937987337a0875eee70a181a02cb9122">Eigen::LevenbergMarquardt::diag</a></div><div class="ttdeci">FVectorType & diag()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:178</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a0c06d5c2034ebb329c54235369643ad2"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a0c06d5c2034ebb329c54235369643ad2">Eigen::LevenbergMarquardt::info</a></div><div class="ttdeci">ComputationInfo info() const </div><div class="ttdoc">Reports whether the minimization was successful. </div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:224</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a17beb283813bbbc4b946d962c75dd1dd"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a17beb283813bbbc4b946d962c75dd1dd">Eigen::LevenbergMarquardt::setMaxfev</a></div><div class="ttdeci">void setMaxfev(Index maxfev)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:172</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_aa6d934df3d16027df0d0100cca3841fe"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#aa6d934df3d16027df0d0100cca3841fe">Eigen::LevenbergMarquardt::lm_param</a></div><div class="ttdeci">RealScalar lm_param(void)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:196</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a20efa2f5a684efaf2499ba5bdd51e792"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a20efa2f5a684efaf2499ba5bdd51e792">Eigen::LevenbergMarquardt::setFtol</a></div><div class="ttdeci">void setFtol(RealScalar ftol)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:160</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_af52cd5af951ff74e784deeadecf73552"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#af52cd5af951ff74e784deeadecf73552">Eigen::LevenbergMarquardt::resetParameters</a></div><div class="ttdeci">void resetParameters()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:146</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a09f0a7a9fefa463f4415e386922b3b48"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a09f0a7a9fefa463f4415e386922b3b48">Eigen::LevenbergMarquardt::fnorm</a></div><div class="ttdeci">RealScalar fnorm()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:190</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a85ef3a396655cdaded53650971dda177"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a85ef3a396655cdaded53650971dda177">Eigen::LevenbergMarquardt::setXtol</a></div><div class="ttdeci">void setXtol(RealScalar xtol)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:157</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_ac4b9a92a37e8f656a9bc7f222d3f1d3b"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#ac4b9a92a37e8f656a9bc7f222d3f1d3b">Eigen::LevenbergMarquardt::gnorm</a></div><div class="ttdeci">RealScalar gnorm()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:193</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a4ec1e17c7206359b96335f2c0744a783"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a4ec1e17c7206359b96335f2c0744a783">Eigen::LevenbergMarquardt::njev</a></div><div class="ttdeci">Index njev()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:187</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a021e06e5e35dcff2b1e523df44ecb90b"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a021e06e5e35dcff2b1e523df44ecb90b">Eigen::LevenbergMarquardt::matrixR</a></div><div class="ttdeci">JacobianType & matrixR()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:209</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_afb981cc5d4a68f39d4ffd8a681f4ed81"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#afb981cc5d4a68f39d4ffd8a681f4ed81">Eigen::LevenbergMarquardt::permutation</a></div><div class="ttdeci">PermutationType permutation()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:213</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a20fae6c5fa1f67f4bf3973547ba82735"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a20fae6c5fa1f67f4bf3973547ba82735">Eigen::LevenbergMarquardt::setFactor</a></div><div class="ttdeci">void setFactor(RealScalar factor)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:166</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_af30ae57fc2b4e8bf3db78546c88b16fd"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#af30ae57fc2b4e8bf3db78546c88b16fd">Eigen::LevenbergMarquardt::iterations</a></div><div class="ttdeci">Index iterations()</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:181</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_afe5c8e692208d989449d3b83807acfe7"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#afe5c8e692208d989449d3b83807acfe7">Eigen::LevenbergMarquardt::setGtol</a></div><div class="ttdeci">void setGtol(RealScalar gtol)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:163</div></div>
<div class="ttc" id="classEigen_1_1LevenbergMarquardt_html_a0f79478b8d636b815751fe0ea8c56b58"><div class="ttname"><a href="classEigen_1_1LevenbergMarquardt.html#a0f79478b8d636b815751fe0ea8c56b58">Eigen::LevenbergMarquardt::setExternalScaling</a></div><div class="ttdeci">void setExternalScaling(bool value)</div><div class="ttdef"><b>Definition:</b> LevenbergMarquardt/LevenbergMarquardt.h:175</div></div>
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