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16 #include <Eigen/LevenbergMarquardt>
18 using namespace Eigen;
20 template<
typename Scalar>
34 int n = Base::inputs();
42 for (
int j = 0;
j <
m;
j++)
53 m_y = this->
model(uv_ref,
x);
60 int n = Base::inputs();
67 for (
int j = 0;
j <
m;
j++)
81 int n = Base::inputs();
88 for (
int j = 0;
j <
m;
j++)
101 template<
typename FunctorType,
typename VectorType>
114 template<
typename FunctorType,
typename VectorType>
127 template<
typename FunctorType,
typename VectorType>
157 uv_ref << -2, 1, 4 ,8, 6, 1.8, 1.2, 1.1, 1.9 , 3;
172 u.setOnes();
v.setOnes();
176 u.setOnes();
v.setOnes();
180 v.setOnes(); u.setOnes();
Matrix< Scalar, Dynamic, 1 > VectorType
Namespace containing all symbols from the Eigen library.
#define VERIFY_IS_EQUAL(a, b)
int operator()(const VectorType &uv, VectorType &fvec)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
int test_minimizeSteps(FunctorType &functor, VectorType &uv)
const EIGEN_DEVICE_FUNC ExpReturnType exp() const
Performs non linear optimization over a non-linear function, using a variant of the Levenberg Marquar...
VectorType model(const VectorType &uv, VectorType &x)
LevenbergMarquardtSpace::Status minimizeInit(FVectorType &x)
DenseFunctor< Scalar > Base
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT
@ ImproperInputParameters
LevenbergMarquardtSpace::Status lmder1(FVectorType &x, const Scalar tol=std::sqrt(NumTraits< Scalar >::epsilon()))
int test_lmder(FunctorType &functor, VectorType &uv)
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar & coeffRef(Index rowId, Index colId)
Jet< T, N > pow(const Jet< T, N > &f, double g)
#define CALL_SUBTEST_2(FUNC)
noiseModel::Diagonal::shared_ptr model
LevenbergMarquardtSpace::Status minimizeOneStep(FVectorType &x)
EIGEN_DECLARE_TEST(denseLM)
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT
Base::JacobianType JacobianType
Expression of a fixed-size or dynamic-size sub-vector.
Array< int, Dynamic, 1 > v
int test_minimizeLM(FunctorType &functor, VectorType &uv)
The matrix class, also used for vectors and row-vectors.
LevenbergMarquardtSpace::Status minimize(FVectorType &x)
void initPoints(VectorType &uv_ref, VectorType &x)
int df(const VectorType &uv, JacobianType &fjac)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:25