#include <mrpt/math/CLevenbergMarquardt.h>
Classes | |
struct | TResultInfo |
Public Types | |
typedef void(* | TFunctor )(const std::vector< NUMTYPE > &x, const USERPARAM &y, std::vector< NUMTYPE > &out) |
The type of the function passed to execute. | |
Static Public Member Functions | |
static void | execute (std::vector< NUMTYPE > &out_optimal_x, const std::vector< NUMTYPE > &x0, TFunctor functor, const std::vector< NUMTYPE > &increments, const USERPARAM &userParam, TResultInfo &out_info, bool verbose=false, const size_t &maxIter=200, const NUMTYPE tau=1e-3, const NUMTYPE e1=1e-8, const NUMTYPE e2=1e-8) |
Executes the LM-method, with derivatives estimated from "functor" Is a user-provided function which takes as input two vectors, in this order:
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Refer to the wiki page for more details on the algorithm and usage.
The parameters of the template are:
Definition at line 51 of file CLevenbergMarquardt.h.
typedef void(* mrpt::math::CLevenbergMarquardtTempl< NUMTYPE, USERPARAM >::TFunctor)(const std::vector< NUMTYPE > &x, const USERPARAM &y, std::vector< NUMTYPE > &out) |
The type of the function passed to execute.
The user must supply a function which evaluates the error of a given point in the solution space.
x | The state point under examination. | |
y | The same object passed to "execute" as the parameter "userParam". | |
out | The vector of (non-squared) errors, of the average square root error, for the given "x". The functor code must set the size of this vector. |
Definition at line 60 of file CLevenbergMarquardt.h.
static void mrpt::math::CLevenbergMarquardtTempl< NUMTYPE, USERPARAM >::execute | ( | std::vector< NUMTYPE > & | out_optimal_x, | |
const std::vector< NUMTYPE > & | x0, | |||
TFunctor | functor, | |||
const std::vector< NUMTYPE > & | increments, | |||
const USERPARAM & | userParam, | |||
TResultInfo & | out_info, | |||
bool | verbose = false , |
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const size_t & | maxIter = 200 , |
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const NUMTYPE | tau = 1e-3 , |
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const NUMTYPE | e1 = 1e-8 , |
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const NUMTYPE | e2 = 1e-8 | |||
) | [inline, static] |
Executes the LM-method, with derivatives estimated from "functor" Is a user-provided function which takes as input two vectors, in this order:
Definition at line 86 of file CLevenbergMarquardt.h.
References ASSERT_, mrpt::math::estimateJacobian(), mrpt::math::CLevenbergMarquardtTempl< NUMTYPE, USERPARAM >::TResultInfo::final_sqr_err, mrpt::math::CMatrixTemplate< T >::getColCount(), mrpt::math::CMatrixTemplate< T >::insertRow(), mrpt::math::CMatrixTemplateNumeric< T >::inv_fast(), mrpt::math::CLevenbergMarquardtTempl< NUMTYPE, USERPARAM >::TResultInfo::iterations_executed, mrpt::math::CMatrixTemplateNumeric< T >::maximumDiagonal(), MRPT_TRY_END, MRPT_TRY_START, mrpt::math::CMatrixTemplateNumeric< T >::multiply_Ab(), mrpt::math::CMatrixTemplateNumeric< T >::multiply_AtA(), mrpt::math::CMatrixTemplateNumeric< T >::multiply_Atb(), mrpt::math::norm(), mrpt::math::norm_inf(), mrpt::math::CLevenbergMarquardtTempl< NUMTYPE, USERPARAM >::TResultInfo::path, mrpt::math::CMatrixTemplateNumeric< T >::setSize(), and mrpt::math::sum().
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