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This commit is contained in:
Thomas Capricelli 2009-09-15 04:17:11 +02:00
parent 6d8baa757e
commit 7a8ec4ba26
3 changed files with 9 additions and 9 deletions
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10
unsupported/Eigen/src/NonLinear/HybridNonLinearSolver.h
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@ -190,12 +190,13 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(
/* compute the qr factorization of the jacobian. */ /* compute the qr factorization of the jacobian. */
ei_qrfac<Scalar>(n, n, fjac.data(), fjac.rows(), false, iwa, 1, wa1.data(), wa2.data()); ei_qrfac<Scalar>(n, n, fjac.data(), fjac.rows(), false, iwa, wa1.data(), wa2.data());
if (iter == 1) {
/* on the first iteration and if mode is 1, scale according */ /* on the first iteration and if mode is 1, scale according */
/* to the norms of the columns of the initial jacobian. */ /* to the norms of the columns of the initial jacobian. */
if (iter == 1) {
if (mode != 2) if (mode != 2)
for (j = 0; j < n; ++j) { for (j = 0; j < n; ++j) {
diag[j] = wa2[j]; diag[j] = wa2[j];
@ -205,7 +206,6 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(
/* on the first iteration, calculate the norm of the scaled x */ /* on the first iteration, calculate the norm of the scaled x */
/* and initialize the step bound delta. */ /* and initialize the step bound delta. */
wa3 = diag.cwise() * x; wa3 = diag.cwise() * x;
xnorm = wa3.stableNorm(); xnorm = wa3.stableNorm();
delta = parameters.factor * xnorm; delta = parameters.factor * xnorm;
@ -507,7 +507,7 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffOneStep(
/* compute the qr factorization of the jacobian. */ /* compute the qr factorization of the jacobian. */
ei_qrfac<Scalar>(n, n, fjac.data(), fjac.rows(), false, iwa, 1, wa1.data(), wa2.data()); ei_qrfac<Scalar>(n, n, fjac.data(), fjac.rows(), false, iwa, wa1.data(), wa2.data());
/* on the first iteration and if mode is 1, scale according */ /* on the first iteration and if mode is 1, scale according */
/* to the norms of the columns of the initial jacobian. */ /* to the norms of the columns of the initial jacobian. */

6
unsupported/Eigen/src/NonLinear/LevenbergMarquardt.h
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@ -217,7 +217,7 @@ LevenbergMarquardt<FunctorType,Scalar>::minimizeOneStep(
/* compute the qr factorization of the jacobian. */ /* compute the qr factorization of the jacobian. */
ei_qrfac<Scalar>(m, n, fjac.data(), fjac.rows(), true, ipvt.data(), n, wa1.data(), wa2.data()); ei_qrfac<Scalar>(m, n, fjac.data(), fjac.rows(), true, ipvt.data(), wa1.data(), wa2.data());
ipvt.cwise()-=1; // qrfac() creates ipvt with fortran convetion (1->n), convert it to c (0->n-1) ipvt.cwise()-=1; // qrfac() creates ipvt with fortran convetion (1->n), convert it to c (0->n-1)
/* on the first iteration and if mode is 1, scale according */ /* on the first iteration and if mode is 1, scale according */
@ -480,7 +480,7 @@ LevenbergMarquardt<FunctorType,Scalar>::minimizeNumericalDiffOneStep(
/* compute the qr factorization of the jacobian. */ /* compute the qr factorization of the jacobian. */
ei_qrfac<Scalar>(m, n, fjac.data(), fjac.rows(), true, ipvt.data(), n, wa1.data(), wa2.data()); ei_qrfac<Scalar>(m, n, fjac.data(), fjac.rows(), true, ipvt.data(), wa1.data(), wa2.data());
ipvt.cwise()-=1; // qrfac() creates ipvt with fortran convetion (1->n), convert it to c (0->n-1) ipvt.cwise()-=1; // qrfac() creates ipvt with fortran convetion (1->n), convert it to c (0->n-1)
/* on the first iteration and if mode is 1, scale according */ /* on the first iteration and if mode is 1, scale according */
@ -783,7 +783,7 @@ LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorageOneStep(
} }
if (sing) { if (sing) {
ipvt.cwise()+=1; ipvt.cwise()+=1;
ei_qrfac<Scalar>(n, n, fjac.data(), fjac.rows(), true, ipvt.data(), n, wa1.data(), wa2.data()); ei_qrfac<Scalar>(n, n, fjac.data(), fjac.rows(), true, ipvt.data(), wa1.data(), wa2.data());
ipvt.cwise()-=1; // qrfac() creates ipvt with fortran convetion (1->n), convert it to c (0->n-1) ipvt.cwise()-=1; // qrfac() creates ipvt with fortran convetion (1->n), convert it to c (0->n-1)
for (j = 0; j < n; ++j) { for (j = 0; j < n; ++j) {
if (fjac(j,j) != 0.) { if (fjac(j,j) != 0.) {

2
unsupported/Eigen/src/NonLinear/qrfac.h
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@ -1,7 +1,7 @@
template <typename Scalar> template <typename Scalar>
void ei_qrfac(int m, int n, Scalar *a, int void ei_qrfac(int m, int n, Scalar *a, int
lda, int pivot, int *ipvt, int /* lipvt */, Scalar *rdiag, lda, int pivot, int *ipvt, Scalar *rdiag,
Scalar *acnorm) Scalar *acnorm)
{ {
/* System generated locals */ /* System generated locals */