misc cleaning

unsupported/Eigen/src/NonLinearOptimization/chkder.h

@@ -17,14 +17,13 @@ void ei_chkder(
     const Scalar epsf = chkder_factor * epsilon<Scalar>();
     const Scalar epslog = chkder_log10e * ei_log(eps);
     Scalar temp;
-    int i,j;
 
     const int m = fvec.size(), n = x.size();
 
     if (mode != 2) {
+        /* mode = 1. */
         xp.resize(n);
-        /*        mode = 1. */
+        for (int j = 0; j < n; ++j) {
-        for (j = 0; j < n; ++j) {
             temp = eps * ei_abs(x[j]);
             if (temp == 0.)
                 temp = eps;
@@ -32,15 +31,15 @@ void ei_chkder(
         }
     }
     else {
-        /*        mode = 2. */
+        /* mode = 2. */
         err.setZero(m); 
-        for (j = 0; j < n; ++j) {
+        for (int j = 0; j < n; ++j) {
             temp = ei_abs(x[j]);
             if (temp == 0.)
                 temp = 1.;
             err += temp * fjac.col(j);
         }
-        for (i = 0; i < m; ++i) {
+        for (int i = 0; i < m; ++i) {
             temp = 1.;
             if (fvec[i] != 0. && fvecp[i] != 0. && ei_abs(fvecp[i] - fvec[i]) >= epsf * ei_abs(fvec[i]))
                 temp = eps * ei_abs((fvecp[i] - fvec[i]) / eps - err[i]) / (ei_abs(fvec[i]) + ei_abs(fvecp[i]));
@@ -51,5 +50,5 @@ void ei_chkder(
                 err[i] = 0.;
         }
     }
-} /* chkder_ */
+}
 

unsupported/Eigen/src/NonLinearOptimization/covar.h

@@ -1,5 +1,5 @@
 
-    template <typename Scalar>
+template <typename Scalar>
 void ei_covar(
         Matrix< Scalar, Dynamic, Dynamic > &r,
         const VectorXi &ipvt,
@@ -17,7 +17,6 @@ void ei_covar(
     assert(ipvt.size()==n);
 
     /*     form the inverse of r in the full upper triangle of r. */
-
     l = -1;
     for (k = 0; k < n; ++k)
         if (ei_abs(r(k,k)) > tolr) {
@@ -33,7 +32,6 @@ void ei_covar(
 
     /*     form the full upper triangle of the inverse of (r transpose)*r */
     /*     in the full upper triangle of r. */
-
     for (k = 0; k <= l; ++k) {
         for (j = 0; j <= k-1; ++j) {
             temp = r(j,k);
@@ -47,7 +45,6 @@ void ei_covar(
 
     /*     form the full lower triangle of the covariance matrix */
     /*     in the strict lower triangle of r and in wa. */
-
     for (j = 0; j < n; ++j) {
         jj = ipvt[j];
         sing = j > l;
@@ -64,7 +61,6 @@ void ei_covar(
     }
 
     /*     symmetrize the covariance matrix in r. */
-
     for (j = 0; j < n; ++j) {
         for (i = 0; i <= j; ++i)
             r(i,j) = r(j,i);

unsupported/Eigen/src/NonLinearOptimization/fdjac1.h

@@ -13,7 +13,7 @@ int ei_fdjac1(
     int i, j, k;
     Scalar eps, temp;
     int msum;
-    int iflag = 0;
+    int iflag;
 
     /* Function Body */
     const Scalar epsmch = epsilon<Scalar>();
@@ -42,7 +42,7 @@ int ei_fdjac1(
     }else {
         /* computation of banded approximate jacobian. */
         for (k = 0; k < msum; ++k) {
-            for (j = k; msum< 0 ? j > n: j < n; j += msum) {
+            for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
                 wa2[j] = x[j];
                 h = eps * ei_abs(wa2[j]);
                 if (h == 0.) h = eps;
@@ -51,7 +51,7 @@ int ei_fdjac1(
             iflag = Functor(x, wa1);
             if (iflag < 0)
                 return iflag;
-            for (j = k; msum< 0 ? j > n: j < n; j += msum) {
+            for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
                 x[j] = wa2[j];
                 h = eps * ei_abs(wa2[j]);
                 if (h == 0.) h = eps;
@@ -63,6 +63,6 @@ int ei_fdjac1(
             }
         }
     }
-    return iflag;
+    return 0;
-} /* fdjac1_ */
+}
 

unsupported/Eigen/src/NonLinearOptimization/qrsolv.h

@@ -22,7 +22,6 @@ void ei_qrsolv(
 
     /*     copy r and (q transpose)*b to preserve input and initialize s. */
     /*     in particular, save the diagonal elements of r in x. */
-
     x = s.diagonal();
     wa = qtb;
 
@@ -35,7 +34,6 @@ void ei_qrsolv(
 
         /*        prepare the row of d to be eliminated, locating the */
         /*        diagonal element using p from the qr factorization. */
-
         l = ipvt[j];
         if (diag[l] == 0.)
             break;
@@ -45,7 +43,6 @@ void ei_qrsolv(
         /*        the transformations to eliminate the row of d */
         /*        modify only a single element of (q transpose)*b */
         /*        beyond the first n, which is initially zero. */
-
         Scalar qtbpj = 0.;
         for (k = j; k < n; ++k) {
             /*           determine a givens rotation which eliminates the */
@@ -55,7 +52,6 @@ void ei_qrsolv(
 
             /*           compute the modified diagonal element of r and */
             /*           the modified element of ((q transpose)*b,0). */
-
             s(k,k) = givens.c() * s(k,k) + givens.s() * sdiag[k];
             temp = givens.c() * wa[k] + givens.s() * qtbpj;
             qtbpj = -givens.s() * wa[k] + givens.c() * qtbpj;
@@ -72,7 +68,6 @@ void ei_qrsolv(
 
     /*     solve the triangular system for z. if the system is */
     /*     singular, then obtain a least squares solution. */
-
     int nsing;
     for (nsing=0; nsing<n && sdiag[nsing]!=0; nsing++);
     wa.segment(nsing,n-nsing).setZero();

unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h

@@ -7,7 +7,7 @@ void ei_r1mpyq(int m, int n, Scalar *a, int
     int a_dim1, a_offset;
 
     /* Local variables */
-    int i, j, nm1, nmj;
+    int i, j, nmj;
     Scalar cos__=0., sin__=0., temp;
 
     /* Parameter adjustments */
@@ -18,12 +18,11 @@ void ei_r1mpyq(int m, int n, Scalar *a, int
     a -= a_offset;
 
     /* Function Body */
-    nm1 = n - 1;
+    if (n<=1)
-    if (nm1 < 1)
         return;
 
     /*     apply the first set of givens rotations to a. */
-    for (nmj = 1; nmj <= nm1; ++nmj) {
+    for (nmj = 1; nmj <= n-1; ++nmj) {
         j = n - nmj;
         if (ei_abs(v[j]) > 1.) {
             cos__ = 1. / v[j];
@@ -40,7 +39,7 @@ void ei_r1mpyq(int m, int n, Scalar *a, int
         }
     }
     /*     apply the second set of givens rotations to a. */
-    for (j = 1; j <= nm1; ++j) {
+    for (j = 1; j <= n-1; ++j) {
         if (ei_abs(w[j]) > 1.) {
             cos__ = 1. / w[j];
             sin__ = ei_sqrt(1. - ei_abs2(cos__));
@@ -56,5 +55,5 @@ void ei_r1mpyq(int m, int n, Scalar *a, int
         }
     }
     return;
-} /* r1mpyq_ */
+}
 

unsupported/Eigen/src/NonLinearOptimization/rwupdt.h

@@ -8,7 +8,6 @@ void ei_rwupdt(int n, Scalar *r__, int ldr,
     int r_dim1, r_offset;
 
     /* Local variables */
-    int i, j, jm1;
     Scalar tan__, temp, rowj, cotan;
 
     /* Parameter adjustments */
@@ -21,60 +20,40 @@ void ei_rwupdt(int n, Scalar *r__, int ldr,
     r__ -= r_offset;
 
     /* Function Body */
+    for (int j = 1; j <= n; ++j) {
+        rowj = w[j];
 
-    for (j = 1; j <= n; ++j) {
+        /*        apply the previous transformations to */
-	rowj = w[j];
+        /*        r(i,j), i=1,2,...,j-1, and to w(j). */
-	jm1 = j - 1;
+        if (j-1>=1)
+            for (int i = 1; i <= j-1; ++i) {
+                temp = cos__[i] * r__[i + j * r_dim1] + sin__[i] * rowj;
+                rowj = -sin__[i] * r__[i + j * r_dim1] + cos__[i] * rowj;
+                r__[i + j * r_dim1] = temp;
+            }
 
-/*        apply the previous transformations to */
+        /*        determine a givens rotation which eliminates w(j). */
-/*        r(i,j), i=1,2,...,j-1, and to w(j). */
+        cos__[j] = 1.;
+        sin__[j] = 0.;
+        if (rowj != 0.) {
+            if (ei_abs(r__[j + j * r_dim1]) < ei_abs(rowj)) {
+                cotan = r__[j + j * r_dim1] / rowj;
+                sin__[j] = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(cotan));
+                cos__[j] = sin__[j] * cotan;
+            }
+            else {
+                tan__ = rowj / r__[j + j * r_dim1];
+                cos__[j] = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(tan__));
+                sin__[j] = cos__[j] * tan__;
+            }
 
-	if (jm1 < 1) {
+            /*        apply the current transformation to r(j,j), b(j), and alpha. */
-	    goto L20;
+            r__[j + j * r_dim1] = cos__[j] * r__[j + j * r_dim1] + sin__[j] * rowj;
-	}
+            temp = cos__[j] * b[j] + sin__[j] * *alpha;
-	for (i = 1; i <= jm1; ++i) {
+            *alpha = -sin__[j] * b[j] + cos__[j] * *alpha;
-	    temp = cos__[i] * r__[i + j * r_dim1] + sin__[i] * rowj;
+            b[j] = temp;
-	    rowj = -sin__[i] * r__[i + j * r_dim1] + cos__[i] * rowj;
+        }
-	    r__[i + j * r_dim1] = temp;
-/* L10: */
-	}
-L20:
-
-/*        determine a givens rotation which eliminates w(j). */
-
-	cos__[j] = 1.;
-	sin__[j] = 0.;
-	if (rowj == 0.) {
-	    goto L50;
-	}
-	if (ei_abs(r__[j + j * r_dim1]) >= ei_abs(rowj))
-	    goto L30;
-	cotan = r__[j + j * r_dim1] / rowj;
-/* Computing 2nd power */
-	sin__[j] = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(cotan));
-	cos__[j] = sin__[j] * cotan;
-	goto L40;
-L30:
-	tan__ = rowj / r__[j + j * r_dim1];
-/* Computing 2nd power */
-	cos__[j] = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(tan__));
-	sin__[j] = cos__[j] * tan__;
-L40:
-
-/*        apply the current transformation to r(j,j), b(j), and alpha. */
-
-	r__[j + j * r_dim1] = cos__[j] * r__[j + j * r_dim1] + sin__[j] * 
-		rowj;
-	temp = cos__[j] * b[j] + sin__[j] * *alpha;
-	*alpha = -sin__[j] * b[j] + cos__[j] * *alpha;
-	b[j] = temp;
-L50:
-/* L60: */
-	;
     }
     return;
-
+}
-/*     last card of subroutine rwupdt. */
-
-} /* rwupdt_ */