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<div class="title">loc_gauss_newton.h</div> </div>
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<a href="loc__gauss__newton_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de></span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * 2020 Freie Universität Berlin</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * This file is subject to the terms and conditions of the GNU Lesser General</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Public License v2.1. See the file LICENSE in the top level directory for more</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * details.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#ifndef LOC_GAUSS_NEWTON_H_</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define LOC_GAUSS_NEWTON_H_</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <inttypes.h></span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "<a class="code" href="matrix_8h.html">matrix.h</a>"</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include "<a class="code" href="vector_8h.html">vector.h</a>"</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> uint8_t <a class="code" href="loc__gauss__newton_8h.html#aaba1f25cf23d5529e4fc3bca22f8784e">loc_gauss_newton</a>(uint8_t ref_points_num,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_points_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="vector_8h.html#acb41430bc5720dda7d1c45d91a0b0221">vector_t</a> start_pos[3],</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> measured_data_vec[ref_points_num],</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> eps, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> fmin, uint8_t max_iter_num,</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="vector_8h.html#acb41430bc5720dda7d1c45d91a0b0221">vector_t</a> est_pos[3],</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">void</span> (*f_i)(uint8_t ref_point_num,</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_mat[ref_points_num][3],</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> d_vec[],</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> f_vec[]),</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">void</span> (*jacobian_get_JTJ)(uint8_t ref_points_num,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ[3][3]),</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">void</span> (*jacobian_get_JTf)(uint8_t ref_points_num,</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTf[3])</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  );</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="preprocessor">#endif </span><span class="comment">/* LOC_GAUSS_NEWTON_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="avector_8h_html_acb41430bc5720dda7d1c45d91a0b0221"><div class="ttname"><a href="vector_8h.html#acb41430bc5720dda7d1c45d91a0b0221">vector_t</a></div><div class="ttdeci">#define vector_t</div><div class="ttdoc">Define the data type of the vector elements.</div><div class="ttdef"><b>Definition:</b> <a href="vector_8h_source.html#l00033">vector.h:33</a></div></div>
<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>
<div class="ttc" id="aloc__gauss__newton_8h_html_aaba1f25cf23d5529e4fc3bca22f8784e"><div class="ttname"><a href="loc__gauss__newton_8h.html#aaba1f25cf23d5529e4fc3bca22f8784e">loc_gauss_newton</a></div><div class="ttdeci">uint8_t loc_gauss_newton(uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], vector_t start_pos[3], matrix_t measured_data_vec[ref_points_num], matrix_t eps, matrix_t fmin, uint8_t max_iter_num, vector_t est_pos[3], void(*f_i)(uint8_t ref_point_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]), void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]), void(*jacobian_get_JTf)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]))</div><div class="ttdoc">Implements the modified Gauss–Newton algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="loc__gauss__newton_8c_source.html#l00030">loc_gauss_newton.c:30</a></div></div>
<div class="ttc" id="amatrix_8h_html_af38ac6b76d645fea9abd6caeb4d9dd31"><div class="ttname"><a href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a></div><div class="ttdeci">#define matrix_t</div><div class="ttdoc">Define the data type of the matrix elements.</div><div class="ttdef"><b>Definition:</b> <a href="matrix_8h_source.html#l00038">matrix.h:38</a></div></div>
<div class="ttc" id="avector_8h_html"><div class="ttname"><a href="vector_8h.html">vector.h</a></div><div class="ttdoc">Vector computations.</div></div>
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