cminpack: /opt/ros/diamondback/stacks/perception_pcl/cminpack/include/minpack.h Source File

00001 #ifndef __MINPACK_H__
00002 #define __MINPACK_H__
00003 
00004 #ifdef __cplusplus
00005 extern "C" {
00006 #endif /* __cplusplus */
00007 
00008 /* Declarations for minpack */
00009 
00010 /* find a zero of a system of N nonlinear functions in N variables by
00011    a modification of the Powell hybrid method (Jacobian calculated by
00012    a forward-difference approximation) */
00013 void hybrd1_ ( void (*fcn)(const int *n, const double *x, double *fvec, int *iflag ), 
00014                const int *n, double *x, double *fvec, const double *tol, int *info,
00015                double *wa, const int *lwa );
00016 
00017 /* find a zero of a system of N nonlinear functions in N variables by
00018    a modification of the Powell hybrid method (Jacobian calculated by
00019    a forward-difference approximation, more general). */
00020 void hybrd_ ( void (*fcn)(const int *n, const double *x, double *fvec, int *iflag ), 
00021               const int *n, double *x, double *fvec, const double *xtol, const int *maxfev,
00022               const int *ml, const int *mu, const double *epsfcn, double *diag, const int *mode,
00023               const double *factor, const int *nprint, int *info, int *nfev,
00024               double *fjac, const int *ldfjac, double *r, const int *lr, double *qtf,
00025               double *wa1, double *wa2, double *wa3, double *wa4);
00026   
00027 /* find a zero of a system of N nonlinear functions in N variables by
00028    a modification of the Powell hybrid method (user-supplied Jacobian) */
00029 void hybrj1_ ( void (*fcn)(const int *n, const double *x, double *fvec, double *fjec,
00030                            const int *ldfjac, int *iflag ), const int *n, double *x,
00031                double *fvec, double *fjec, const int *ldfjac, const double *tol,
00032                int *info, double *wa, const int *lwa );
00033           
00034 /* find a zero of a system of N nonlinear functions in N variables by
00035    a modification of the Powell hybrid method (user-supplied Jacobian,
00036    more general) */
00037 void hybrj_ ( void (*fcn)(const int *n, const double *x, double *fvec, double *fjec,
00038                           const int *ldfjac, int *iflag ), const int *n, double *x,
00039               double *fvec, double *fjec, const int *ldfjac, const double *xtol,
00040               const int *maxfev, double *diag, const int *mode, const double *factor,
00041               const int *nprint, int *info, int *nfev, int *njev, double *r,
00042               const int *lr, double *qtf, double *wa1, double *wa2,
00043               double *wa3, double *wa4 );
00044 
00045 /* minimize the sum of the squares of nonlinear functions in N
00046    variables by a modification of the Levenberg-Marquardt algorithm
00047    (Jacobian calculated by a forward-difference approximation) */
00048 void lmdif1_ ( void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00049                            int *iflag ),
00050                const int *m, const int *n, double *x, double *fvec, const double *tol,
00051                int *info, int *iwa, double *wa, const int *lwa );
00052 
00053 /* minimize the sum of the squares of nonlinear functions in N
00054    variables by a modification of the Levenberg-Marquardt algorithm
00055    (Jacobian calculated by a forward-difference approximation, more
00056    general) */
00057 void lmdif_ ( void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00058                           int *iflag ),
00059               const int *m, const int *n, double *x, double *fvec, const double *ftol,
00060               const double *xtol, const double *gtol, const int *maxfev, const double *epsfcn,
00061               double *diag, const int *mode, const double *factor, const int *nprint,
00062               int *info, int *nfev, double *fjac, const int *ldfjac, int *ipvt,
00063               double *qtf, double *wa1, double *wa2, double *wa3,
00064               double *wa4 );
00065 
00066 /* minimize the sum of the squares of nonlinear functions in N
00067    variables by a modification of the Levenberg-Marquardt algorithm
00068    (user-supplied Jacobian) */
00069 void lmder1_ ( void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00070                            double *fjec, const int *ldfjac, int *iflag ),
00071                const int *m, const int *n, double *x, double *fvec, double *fjac,
00072                const int *ldfjac, const double *tol, int *info, int *ipvt,
00073                double *wa, const int *lwa );
00074 
00075 /* minimize the sum of the squares of nonlinear functions in N
00076    variables by a modification of the Levenberg-Marquardt algorithm
00077    (user-supplied Jacobian, more general) */
00078 void lmder_ ( void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00079                           double *fjec, const int *ldfjac, int *iflag ),
00080               const int *m, const int *n, double *x, double *fvec, double *fjac,
00081               const int *ldfjac, const double *ftol, const double *xtol, const double *gtol,
00082               const int *maxfev, double *diag, const int *mode, const double *factor,
00083               const int *nprint, int *info, int *nfev, int *njev, int *ipvt,
00084               double *qtf, double *wa1, double *wa2, double *wa3,
00085               double *wa4 );
00086 
00087 /* minimize the sum of the squares of nonlinear functions in N
00088    variables by a modification of the Levenberg-Marquardt algorithm
00089    (user-supplied Jacobian, minimal storage) */
00090 void lmstr1_ ( void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00091                            double *fjrow, int *iflag ), const int *m, const int *n,
00092                double *x, double *fvec, double *fjac, const int *ldfjac,
00093                const double *tol, int *info, int *ipvt, double *wa, const int *lwa );
00094 
00095 /* minimize the sum of the squares of nonlinear functions in N
00096    variables by a modification of the Levenberg-Marquardt algorithm
00097    (user-supplied Jacobian, minimal storage, more general) */
00098 void lmstr_ ( void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00099                           double *fjrow, int *iflag ), const int *m,
00100               const int *n, double *x, double *fvec, double *fjac,
00101               const int *ldfjac, const double *ftol, const double *xtol, const double *gtol,
00102               const int *maxfev, double *diag, const int *mode, const double *factor,
00103               const int *nprint, int *info, int *nfev, int *njev, int *ipvt,
00104               double *qtf, double *wa1, double *wa2, double *wa3,
00105               double *wa4 );
00106  
00107 void chkder_ ( const int *m, const int *n, const double *x, double *fvec, double *fjec,
00108                const int *ldfjac, double *xp, double *fvecp, const int *mode,
00109                double *err  );
00110 
00111 double dpmpar_ ( const int *i );
00112 
00113 double enorm_ ( const int *n, const double *x );
00114 
00115 /* compute a forward-difference approximation to the m by n jacobian
00116    matrix associated with a specified problem of m functions in n
00117    variables. */
00118 void fdjac2_(void (*fcn)(const int *m, const int *n, const double *x, double *fvec,
00119                          int *iflag ),
00120              const int *m, const int *n, double *x, const double *fvec, double *fjac,
00121              const int *ldfjac, int *iflag, const double *epsfcn, double *wa);
00122 
00123 /* compute a forward-difference approximation to the n by n jacobian
00124    matrix associated with a specified problem of n functions in n
00125    variables. if the jacobian has a banded form, then function
00126    evaluations are saved by only approximating the nonzero terms. */
00127 void fdjac1_(void (*fcn)(const int *n, const double *x, double *fvec, int *iflag ),
00128              const int *n, double *x, const double *fvec, double *fjac, const int *ldfjac,
00129              int *iflag, const int *ml, const int *mu, const double *epsfcn, double *wa1,
00130              double *wa2);
00131 
00132 /* internal MINPACK subroutines */
00133 void dogleg_(const int *n, const double *r, const int *lr, 
00134              const double *diag, const double *qtb, const double *delta, double *x, 
00135              double *wa1, double *wa2);
00136 void qrfac_(const int *m, const int *n, double *a, const int *
00137             lda, const int *pivot, int *ipvt, const int *lipvt, double *rdiag,
00138             double *acnorm, double *wa);
00139 void qrsolv_(const int *n, double *r, const int *ldr, 
00140              const int *ipvt, const double *diag, const double *qtb, double *x, 
00141              double *sdiag, double *wa);
00142 void qform_(const int *m, const int *n, double *q, const int *
00143             ldq, double *wa);
00144 void r1updt_(const int *m, const int *n, double *s, const int *
00145              ls, const double *u, double *v, double *w, int *sing);
00146 void r1mpyq_(const int *m, const int *n, double *a, const int *
00147              lda, const double *v, const double *w);
00148 void lmpar_(const int *n, double *r, const int *ldr, 
00149             const int *ipvt, const double *diag, const double *qtb, const double *delta, 
00150             double *par, double *x, double *sdiag, double *wa1, 
00151             double *wa2);
00152 void rwupdt_(const int *n, double *r, const int *ldr, 
00153              const double *w, double *b, double *alpha, double *cos, 
00154              double *sin);
00155 void covar_(const int *n, double *r, const int *ldr, 
00156            const int *ipvt, const double *tol, double *wa);
00157 #ifdef __cplusplus
00158 }
00159 #endif /* __cplusplus */
00160 
00161 
00162 #endif /* __CMINPACK_H__ */