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jaseg 2020-03-02 19:45:39 +01:00
parent d678ae5fbe
commit 331ce442c4
4 changed files with 269 additions and 1 deletions
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controller/fw/git_sucks/levmarq.h Normal file
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#ifndef __LEVMARQ_H__
#define __LEVMARQ_H__
typedef struct {
int max_it;
float init_lambda;
float up_factor;
float down_factor;
float target_derr;
int final_it;
float final_err;
float final_derr;
} LMstat;
void levmarq_init(LMstat *lmstat);
int levmarq(int npar, float *par, int ny, float *y, float *dysq,
float (*func)(float *, int, void *),
void (*grad)(float *, float *, int, void *),
void *fdata, LMstat *lmstat);
float error_func(float *par, int ny, float *y, float *dysq,
float (*func)(float *, int, void *), void *fdata);
void solve_axb_cholesky(int n, float l[n][n], float x[n], float b[n]);
int cholesky_decomp(int n, float l[n][n], float a[n][n]);
#endif /* __LEVMARQ_H__ */