fdjac1.h
Go to the documentation of this file.
1 namespace Eigen {
2 
3 namespace internal {
4 
5 template<typename FunctorType, typename Scalar>
7  const FunctorType &Functor,
12  Scalar epsfcn)
13 {
14  using std::sqrt;
15  using std::abs;
16 
17  typedef DenseIndex Index;
18 
19  /* Local variables */
20  Scalar h;
21  Index j, k;
22  Scalar eps, temp;
23  Index msum;
24  int iflag;
25  Index start, length;
26 
27  /* Function Body */
28  const Scalar epsmch = NumTraits<Scalar>::epsilon();
29  const Index n = x.size();
30  eigen_assert(fvec.size()==n);
33 
34  eps = sqrt((std::max)(epsfcn,epsmch));
35  msum = ml + mu + 1;
36  if (msum >= n) {
37  /* computation of dense approximate jacobian. */
38  for (j = 0; j < n; ++j) {
39  temp = x[j];
40  h = eps * abs(temp);
41  if (h == 0.)
42  h = eps;
43  x[j] = temp + h;
44  iflag = Functor(x, wa1);
45  if (iflag < 0)
46  return iflag;
47  x[j] = temp;
48  fjac.col(j) = (wa1-fvec)/h;
49  }
50 
51  }else {
52  /* computation of banded approximate jacobian. */
53  for (k = 0; k < msum; ++k) {
54  for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
55  wa2[j] = x[j];
56  h = eps * abs(wa2[j]);
57  if (h == 0.) h = eps;
58  x[j] = wa2[j] + h;
59  }
60  iflag = Functor(x, wa1);
61  if (iflag < 0)
62  return iflag;
63  for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
64  x[j] = wa2[j];
65  h = eps * abs(wa2[j]);
66  if (h == 0.) h = eps;
67  fjac.col(j).setZero();
68  start = std::max<Index>(0,j-mu);
69  length = (std::min)(n-1, j+ml) - start + 1;
70  fjac.col(j).segment(start, length) = ( wa1.segment(start, length)-fvec.segment(start, length))/h;
71  }
72  }
73  }
74  return 0;
75 }
76 
77 } // end namespace internal
78 
79 } // end namespace Eigen
Eigen
Namespace containing all symbols from the Eigen library.
Definition: jet.h:637
mu
double mu
Definition: testBoundingConstraint.cpp:37
eigen_assert
#define eigen_assert(x)
Definition: Macros.h:1037
x
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
Definition: gnuplot_common_settings.hh:12
h
const double h
Definition: testSimpleHelicopter.cpp:19
n
int n
Definition: BiCGSTAB_simple.cpp:1
epsilon
static double epsilon
Definition: testRot3.cpp:37
Functor
Definition: NonLinearOptimization.cpp:117
j
std::ptrdiff_t j
Definition: tut_arithmetic_redux_minmax.cpp:2
Eigen::internal::fdjac1
DenseIndex fdjac1(const FunctorType &Functor, Matrix< Scalar, Dynamic, 1 > &x, Matrix< Scalar, Dynamic, 1 > &fvec, Matrix< Scalar, Dynamic, Dynamic > &fjac, DenseIndex ml, DenseIndex mu, Scalar epsfcn)
Definition: fdjac1.h:6
anyset::size
size_t size() const
Definition: pytypes.h:2220
Eigen::DenseIndex
EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex
Definition: Meta.h:66
min
#define min(a, b)
Definition: datatypes.h:19
Eigen::Matrix< Scalar, Dynamic, 1 >
abs
#define abs(x)
Definition: datatypes.h:17
internal
Definition: BandTriangularSolver.h:13
Eigen::PlainObjectBase::setZero
EIGEN_DEVICE_FUNC Derived & setZero(Index size)
Definition: CwiseNullaryOp.h:562
max
#define max(a, b)
Definition: datatypes.h:20
ceres::sqrt
Jet< T, N > sqrt(const Jet< T, N > &f)
Definition: jet.h:418
Scalar
SCALAR Scalar
Definition: bench_gemm.cpp:46
Eigen::Index
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
Definition: Meta.h:74


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:32