| 1 | /////////////////////////////////////////////////////////////////////////////////
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| 2 | //
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| 3 | // Levenberg - Marquardt non-linear minimization algorithm
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| 4 | // Copyright (C) 2004 Manolis Lourakis (lourakis at ics forth gr)
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| 5 | // Institute of Computer Science, Foundation for Research & Technology - Hellas
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| 6 | // Heraklion, Crete, Greece.
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| 7 | //
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| 8 | // This program is free software; you can redistribute it and/or modify
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| 9 | // it under the terms of the GNU General Public License as published by
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| 10 | // the Free Software Foundation; either version 2 of the License, or
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| 11 | // (at your option) any later version.
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| 12 | //
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| 13 | // This program is distributed in the hope that it will be useful,
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| 14 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | // GNU General Public License for more details.
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| 17 | //
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| 18 | /////////////////////////////////////////////////////////////////////////////////
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| 19 |
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| 20 | /********************************************************************************
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| 21 | * Levenberg-Marquardt nonlinear minimization. The same core code is used with
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| 22 | * appropriate #defines to derive single and double precision versions, see
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| 23 | * also lm_core.c
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| 24 | ********************************************************************************/
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| 25 |
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| 26 | #include <stdio.h>
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| 27 | #include <stdlib.h>
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| 28 | #include <math.h>
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| 29 | #include <float.h>
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| 30 |
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| 31 | #include "levmar.h"
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| 32 | #include "compiler.h"
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| 33 | #include "misc.h"
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| 34 |
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| 35 | #define EPSILON 1E-12
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| 36 | #define ONE_THIRD 0.3333333334 /* 1.0/3.0 */
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| 37 |
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| 38 | #if !defined(LM_DBL_PREC) && !defined(LM_SNGL_PREC)
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| 39 | #error At least one of LM_DBL_PREC, LM_SNGL_PREC should be defined!
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| 40 | #endif
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| 41 |
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| 42 |
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| 43 | #ifdef LM_SNGL_PREC
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| 44 | /* single precision (float) definitions */
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| 45 | #define LM_REAL float
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| 46 | #define LM_PREFIX s
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| 47 |
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| 48 | #define LM_REAL_MAX FLT_MAX
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| 49 | #define LM_REAL_MIN -FLT_MAX
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| 50 | #define LM_REAL_EPSILON FLT_EPSILON
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| 51 | #define __SUBCNST(x) x##F
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| 52 | #define LM_CNST(x) __SUBCNST(x) // force substitution
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| 53 |
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| 54 | #include "lm_core.c" // read in core code
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| 55 |
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| 56 | #undef LM_REAL
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| 57 | #undef LM_PREFIX
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| 58 | #undef LM_REAL_MAX
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| 59 | #undef LM_REAL_EPSILON
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| 60 | #undef LM_REAL_MIN
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| 61 | #undef __SUBCNST
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| 62 | #undef LM_CNST
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| 63 | #endif /* LM_SNGL_PREC */
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| 64 |
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| 65 | #ifdef LM_DBL_PREC
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| 66 | /* double precision definitions */
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| 67 | #define LM_REAL double
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| 68 | #define LM_PREFIX d
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| 69 |
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| 70 | #define LM_REAL_MAX DBL_MAX
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| 71 | #define LM_REAL_MIN -DBL_MAX
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| 72 | #define LM_REAL_EPSILON DBL_EPSILON
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| 73 | #define LM_CNST(x) (x)
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| 74 |
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| 75 | #include "lm_core.c" // read in core code
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| 76 |
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| 77 | #undef LM_REAL
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| 78 | #undef LM_PREFIX
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| 79 | #undef LM_REAL_MAX
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| 80 | #undef LM_REAL_EPSILON
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| 81 | #undef LM_REAL_MIN
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| 82 | #undef LM_CNST
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| 83 | #endif /* LM_DBL_PREC */
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