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371 lines
17 KiB
371 lines
17 KiB
6 months ago
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/*
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////////////////////////////////////////////////////////////////////////////////////
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//
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// Prototypes and definitions for the Levenberg - Marquardt minimization algorithm
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// Copyright (C) 2004 Manolis Lourakis (lourakis at ics forth gr)
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// Institute of Computer Science, Foundation for Research & Technology - Hellas
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// Heraklion, Crete, Greece.
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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////////////////////////////////////////////////////////////////////////////////////
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*/
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#ifndef _LEVMAR_H_
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#define _LEVMAR_H_
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/************************************* Start of configuration options *************************************/
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/* specify whether to use LAPACK or not. The first option is strongly recommended */
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#define HAVE_LAPACK /* use LAPACK */
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/* #undef HAVE_LAPACK */ /* uncomment this to force not using LAPACK */
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/* to avoid the overhead of repeated mallocs(), routines in Axb.c can be instructed to
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* retain working memory between calls. Such a choice, however, renders these routines
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* non-reentrant and is not safe in a shared memory multiprocessing environment.
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* Bellow, this option is turned on only when not compiling with OpenMP.
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*/
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#if !defined(_OPENMP)
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#define LINSOLVERS_RETAIN_MEMORY /* comment this if you don't want routines in Axb.c retain working memory between calls */
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#endif
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/* determine the precision variants to be build. Default settings build
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* both the single and double precision routines
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*/
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#define LM_DBL_PREC /* comment this if you don't want the double precision routines to be compiled */
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#define LM_SNGL_PREC /* comment this if you don't want the single precision routines to be compiled */
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/****************** End of configuration options, no changes necessary beyond this point ******************/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define FABS(x) (((x)>=0.0)? (x) : -(x))
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/* work arrays size for ?levmar_der and ?levmar_dif functions.
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* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
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*/
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#define LM_DER_WORKSZ(npar, nmeas) (2*(nmeas) + 4*(npar) + (nmeas)*(npar) + (npar)*(npar))
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#define LM_DIF_WORKSZ(npar, nmeas) (4*(nmeas) + 4*(npar) + (nmeas)*(npar) + (npar)*(npar))
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/* work arrays size for ?levmar_bc_der and ?levmar_bc_dif functions.
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* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
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*/
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#define LM_BC_DER_WORKSZ(npar, nmeas) (2*(nmeas) + 4*(npar) + (nmeas)*(npar) + (npar)*(npar))
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#define LM_BC_DIF_WORKSZ(npar, nmeas) LM_BC_DER_WORKSZ((npar), (nmeas)) /* LEVMAR_BC_DIF currently implemented using LEVMAR_BC_DER()! */
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/* work arrays size for ?levmar_lec_der and ?levmar_lec_dif functions.
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* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
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*/
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#define LM_LEC_DER_WORKSZ(npar, nmeas, nconstr) LM_DER_WORKSZ((npar)-(nconstr), (nmeas))
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#define LM_LEC_DIF_WORKSZ(npar, nmeas, nconstr) LM_DIF_WORKSZ((npar)-(nconstr), (nmeas))
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/* work arrays size for ?levmar_blec_der and ?levmar_blec_dif functions.
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* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
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*/
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#define LM_BLEC_DER_WORKSZ(npar, nmeas, nconstr) LM_LEC_DER_WORKSZ((npar), (nmeas)+(npar), (nconstr))
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#define LM_BLEC_DIF_WORKSZ(npar, nmeas, nconstr) LM_LEC_DIF_WORKSZ((npar), (nmeas)+(npar), (nconstr))
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/* work arrays size for ?levmar_bleic_der and ?levmar_bleic_dif functions.
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* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
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*/
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#define LM_BLEIC_DER_WORKSZ(npar, nmeas, nconstr1, nconstr2) LM_BLEC_DER_WORKSZ((npar)+(nconstr2), (nmeas)+(nconstr2), (nconstr1)+(nconstr2))
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#define LM_BLEIC_DIF_WORKSZ(npar, nmeas, nconstr1, nconstr2) LM_BLEC_DIF_WORKSZ((npar)+(nconstr2), (nmeas)+(nconstr2), (nconstr1)+(nconstr2))
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#define LM_OPTS_SZ 5 /* max(4, 5) */
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#define LM_INFO_SZ 10
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#define LM_ERROR -1
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#define LM_INIT_MU 1E-03
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#define LM_STOP_THRESH 1E-17
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#define LM_DIFF_DELTA 1E-06
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#define LM_VERSION "2.5 (December 2009)"
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#ifdef LM_DBL_PREC
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/* double precision LM, with & without Jacobian */
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/* unconstrained minimization */
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extern int dlevmar_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, int itmax, double *opts,
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double *info, double *work, double *covar, void *adata);
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extern int dlevmar_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, int itmax, double *opts,
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double *info, double *work, double *covar, void *adata);
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/* box-constrained minimization */
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extern int dlevmar_bc_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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extern int dlevmar_bc_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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#ifdef HAVE_LAPACK
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/* linear equation constrained minimization */
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extern int dlevmar_lec_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *A, double *b, int k,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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extern int dlevmar_lec_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *A, double *b, int k,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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/* box & linear equation constrained minimization */
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extern int dlevmar_blec_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub, double *A, double *b, int k, double *wghts,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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extern int dlevmar_blec_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub, double *A, double *b, int k, double *wghts,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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/* box, linear equations & inequalities constrained minimization */
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extern int dlevmar_bleic_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub,
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double *A, double *b, int k1, double *C, double *d, int k2,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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extern int dlevmar_bleic_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub,
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double *A, double *b, int k1, double *C, double *d, int k2,
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int itmax, double *opts, double *info, double *work, double *covar, void *adata);
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/* box & linear inequality constraints */
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extern int dlevmar_blic_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub, double *C, double *d, int k2,
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int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
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extern int dlevmar_blic_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *lb, double *ub, double *C, double *d, int k2,
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int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
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/* linear equation & inequality constraints */
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extern int dlevmar_leic_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *A, double *b, int k1, double *C, double *d, int k2,
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int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
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extern int dlevmar_leic_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *A, double *b, int k1, double *C, double *d, int k2,
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int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
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/* linear inequality constraints */
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extern int dlevmar_lic_der(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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void (*jacf)(double *p, double *j, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *C, double *d, int k2,
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int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
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extern int dlevmar_lic_dif(
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void (*func)(double *p, double *hx, int m, int n, void *adata),
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double *p, double *x, int m, int n, double *C, double *d, int k2,
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int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
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#endif /* HAVE_LAPACK */
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#endif /* LM_DBL_PREC */
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#ifdef LM_SNGL_PREC
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/* single precision LM, with & without Jacobian */
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/* unconstrained minimization */
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extern int slevmar_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, int itmax, float *opts,
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float *info, float *work, float *covar, void *adata);
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extern int slevmar_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, int itmax, float *opts,
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float *info, float *work, float *covar, void *adata);
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/* box-constrained minimization */
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extern int slevmar_bc_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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extern int slevmar_bc_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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#ifdef HAVE_LAPACK
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/* linear equation constrained minimization */
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extern int slevmar_lec_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *A, float *b, int k,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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extern int slevmar_lec_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *A, float *b, int k,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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/* box & linear equation constrained minimization */
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extern int slevmar_blec_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub, float *A, float *b, int k, float *wghts,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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extern int slevmar_blec_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub, float *A, float *b, int k, float *wghts,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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/* box, linear equations & inequalities constrained minimization */
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extern int slevmar_bleic_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub,
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float *A, float *b, int k1, float *C, float *d, int k2,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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extern int slevmar_bleic_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub,
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float *A, float *b, int k1, float *C, float *d, int k2,
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int itmax, float *opts, float *info, float *work, float *covar, void *adata);
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/* box & linear inequality constraints */
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extern int slevmar_blic_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub, float *C, float *d, int k2,
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int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
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extern int slevmar_blic_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *lb, float *ub, float *C, float *d, int k2,
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int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
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/* linear equality & inequality constraints */
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extern int slevmar_leic_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *A, float *b, int k1, float *C, float *d, int k2,
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int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
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extern int slevmar_leic_dif(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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float *p, float *x, int m, int n, float *A, float *b, int k1, float *C, float *d, int k2,
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int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
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/* linear inequality constraints */
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extern int slevmar_lic_der(
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void (*func)(float *p, float *hx, int m, int n, void *adata),
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void (*jacf)(float *p, float *j, int m, int n, void *adata),
|
||
|
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float *p, float *x, int m, int n, float *C, float *d, int k2,
|
||
|
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int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
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||
|
|
|
||
|
|
extern int slevmar_lic_dif(
|
||
|
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void (*func)(float *p, float *hx, int m, int n, void *adata),
|
||
|
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float *p, float *x, int m, int n, float *C, float *d, int k2,
|
||
|
|
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
|
||
|
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#endif /* HAVE_LAPACK */
|
||
|
|
|
||
|
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#endif /* LM_SNGL_PREC */
|
||
|
|
|
||
|
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/* linear system solvers */
|
||
|
|
#ifdef HAVE_LAPACK
|
||
|
|
|
||
|
|
#ifdef LM_DBL_PREC
|
||
|
|
extern int dAx_eq_b_QR(double *A, double *B, double *x, int m);
|
||
|
|
extern int dAx_eq_b_QRLS(double *A, double *B, double *x, int m, int n);
|
||
|
|
extern int dAx_eq_b_Chol(double *A, double *B, double *x, int m);
|
||
|
|
extern int dAx_eq_b_LU(double *A, double *B, double *x, int m);
|
||
|
|
extern int dAx_eq_b_SVD(double *A, double *B, double *x, int m);
|
||
|
|
extern int dAx_eq_b_BK(double *A, double *B, double *x, int m);
|
||
|
|
#endif /* LM_DBL_PREC */
|
||
|
|
|
||
|
|
#ifdef LM_SNGL_PREC
|
||
|
|
extern int sAx_eq_b_QR(float *A, float *B, float *x, int m);
|
||
|
|
extern int sAx_eq_b_QRLS(float *A, float *B, float *x, int m, int n);
|
||
|
|
extern int sAx_eq_b_Chol(float *A, float *B, float *x, int m);
|
||
|
|
extern int sAx_eq_b_LU(float *A, float *B, float *x, int m);
|
||
|
|
extern int sAx_eq_b_SVD(float *A, float *B, float *x, int m);
|
||
|
|
extern int sAx_eq_b_BK(float *A, float *B, float *x, int m);
|
||
|
|
#endif /* LM_SNGL_PREC */
|
||
|
|
|
||
|
|
#else /* no LAPACK */
|
||
|
|
|
||
|
|
#ifdef LM_DBL_PREC
|
||
|
|
extern int dAx_eq_b_LU_noLapack(double *A, double *B, double *x, int n);
|
||
|
|
#endif /* LM_DBL_PREC */
|
||
|
|
|
||
|
|
#ifdef LM_SNGL_PREC
|
||
|
|
extern int sAx_eq_b_LU_noLapack(float *A, float *B, float *x, int n);
|
||
|
|
#endif /* LM_SNGL_PREC */
|
||
|
|
|
||
|
|
#endif /* HAVE_LAPACK */
|
||
|
|
|
||
|
|
/* Jacobian verification, double & single precision */
|
||
|
|
#ifdef LM_DBL_PREC
|
||
|
|
extern void dlevmar_chkjac(
|
||
|
|
void (*func)(double *p, double *hx, int m, int n, void *adata),
|
||
|
|
void (*jacf)(double *p, double *j, int m, int n, void *adata),
|
||
|
|
double *p, int m, int n, void *adata, double *err);
|
||
|
|
#endif /* LM_DBL_PREC */
|
||
|
|
|
||
|
|
#ifdef LM_SNGL_PREC
|
||
|
|
extern void slevmar_chkjac(
|
||
|
|
void (*func)(float *p, float *hx, int m, int n, void *adata),
|
||
|
|
void (*jacf)(float *p, float *j, int m, int n, void *adata),
|
||
|
|
float *p, int m, int n, void *adata, float *err);
|
||
|
|
#endif /* LM_SNGL_PREC */
|
||
|
|
|
||
|
|
/* standard deviation, coefficient of determination (R2) & Pearson's correlation coefficient for best-fit parameters */
|
||
|
|
#ifdef LM_DBL_PREC
|
||
|
|
extern double dlevmar_stddev( double *covar, int m, int i);
|
||
|
|
extern double dlevmar_corcoef(double *covar, int m, int i, int j);
|
||
|
|
extern double dlevmar_R2(void (*func)(double *p, double *hx, int m, int n, void *adata), double *p, double *x, int m, int n, void *adata);
|
||
|
|
|
||
|
|
#endif /* LM_DBL_PREC */
|
||
|
|
|
||
|
|
#ifdef LM_SNGL_PREC
|
||
|
|
extern float slevmar_stddev( float *covar, int m, int i);
|
||
|
|
extern float slevmar_corcoef(float *covar, int m, int i, int j);
|
||
|
|
extern float slevmar_R2(void (*func)(float *p, float *hx, int m, int n, void *adata), float *p, float *x, int m, int n, void *adata);
|
||
|
|
#endif /* LM_SNGL_PREC */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /* _LEVMAR_H_ */
|