diff options
Diffstat (limited to 'controller/fw/levmarq/levmarq.h')
| -rw-r--r-- | controller/fw/levmarq/levmarq.h | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/controller/fw/levmarq/levmarq.h b/controller/fw/levmarq/levmarq.h new file mode 100644 index 0000000..dff13ab --- /dev/null +++ b/controller/fw/levmarq/levmarq.h @@ -0,0 +1,30 @@ + +#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__ */ |