clean qrsolv

1 files changed, 29 insertions, 71 deletions

diff --git a/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h b/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
index cbb45107a..77786636c 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
@@ -8,7 +8,7 @@ void ei_qrsolv(int n, Scalar *r__, int ldr,
     int r_dim1, r_offset;
 
     /* Local variables */
-    int i, j, k, l, jp1, kp1;
+    int i, j, k, l;
     Scalar tan__, cos__, sin__, sum, temp, cotan;
     int nsing;
     Scalar qtbpj;
@@ -30,13 +30,10 @@ void ei_qrsolv(int n, Scalar *r__, int ldr,
     /*     in particular, save the diagonal elements of r in x. */
 
     for (j = 1; j <= n; ++j) {
-        for (i = j; i <= n; ++i) {
+        for (i = j; i <= n; ++i)
             r__[i + j * r_dim1] = r__[j + i * r_dim1];
-            /* L10: */
-        }
         x[j] = r__[j + j * r_dim1];
         wa[j] = qtb[j];
-        /* L20: */
     }
 
     /*     eliminate the diagonal matrix d using a givens rotation. */
@@ -47,13 +44,10 @@ void ei_qrsolv(int n, Scalar *r__, int ldr,
         /*        diagonal element using p from the qr factorization. */
 
         l = ipvt[j];
-        if (diag[l] == 0.) {
+        if (diag[l] == 0.)
             goto L90;
-        }
-        for (k = j; k <= n; ++k) {
+        for (k = j; k <= n; ++k)
             sdiag[k] = 0.;
-            /* L30: */
-        }
         sdiag[j] = diag[l];
 
         /*        the transformations to eliminate the row of d */
@@ -62,25 +56,21 @@ void ei_qrsolv(int n, Scalar *r__, int ldr,
 
         qtbpj = 0.;
         for (k = j; k <= n; ++k) {
-
             /*           determine a givens rotation which eliminates the */
             /*           appropriate element in the current row of d. */
-
             if (sdiag[k] == 0.)
-                goto L70;
-            if ( ei_abs(r__[k + k * r_dim1]) >= ei_abs(sdiag[k]))
-                goto L40;
-            cotan = r__[k + k * r_dim1] / sdiag[k];
-            /* Computing 2nd power */
-            sin__ = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(cotan));
-            cos__ = sin__ * cotan;
-            goto L50;
-L40:
-            tan__ = sdiag[k] / r__[k + k * r_dim1];
-            /* Computing 2nd power */
-            cos__ = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(tan__));
-            sin__ = cos__ * tan__;
-L50:
+                continue;
+            if ( ei_abs(r__[k + k * r_dim1]) < ei_abs(sdiag[k])) {
+                cotan = r__[k + k * r_dim1] / sdiag[k];
+                /* Computing 2nd power */
+                sin__ = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(cotan));
+                cos__ = sin__ * cotan;
+            } else {
+                tan__ = sdiag[k] / r__[k + k * r_dim1];
+                /* Computing 2nd power */
+                cos__ = Scalar(.5) / ei_sqrt(Scalar(0.25) + Scalar(0.25) * ei_abs2(tan__));
+                sin__ = cos__ * tan__;
+            }
 
             /*           compute the modified diagonal element of r and */
             /*           the modified element of ((q transpose)*b,0). */
@@ -92,21 +82,11 @@ L50:
             wa[k] = temp;
 
             /*           accumulate the tranformation in the row of s. */
-
-            kp1 = k + 1;
-            if (n < kp1) {
-                goto L70;
-            }
-            for (i = kp1; i <= n; ++i) {
+            for (i = k+1; i <= n; ++i) {
                 temp = cos__ * r__[i + k * r_dim1] + sin__ * sdiag[i];
-                sdiag[i] = -sin__ * r__[i + k * r_dim1] + cos__ * sdiag[
-                    i];
+                sdiag[i] = -sin__ * r__[i + k * r_dim1] + cos__ * sdiag[i];
                 r__[i + k * r_dim1] = temp;
-                /* L60: */
             }
-L70:
-            /* L80: */
-            ;
         }
 L90:
 
@@ -115,7 +95,6 @@ L90:
 
         sdiag[j] = r__[j + j * r_dim1];
         r__[j + j * r_dim1] = x[j];
-        /* L100: */
     }
 
     /*     solve the triangular system for z. if the system is */
@@ -123,44 +102,23 @@ L90:
 
     nsing = n;
     for (j = 1; j <= n; ++j) {
-        if (sdiag[j] == 0. && nsing == n) {
-            nsing = j - 1;
-        }
-        if (nsing < n) {
-            wa[j] = 0.;
-        }
-        /* L110: */
+        if (sdiag[j] == 0. && nsing == n) nsing = j - 1;
+        if (nsing < n) wa[j] = 0.;
     }
-    if (nsing < 1) {
-        goto L150;
-    }
-    for (k = 1; k <= nsing; ++k) {
-        j = nsing - k + 1;
-        sum = 0.;
-        jp1 = j + 1;
-        if (nsing < jp1) {
-            goto L130;
-        }
-        for (i = jp1; i <= nsing; ++i) {
-            sum += r__[i + j * r_dim1] * wa[i];
-            /* L120: */
+    if (nsing >= 1)
+        for (k = 1; k <= nsing; ++k) {
+            j = nsing - k + 1;
+            sum = 0.;
+            if (nsing>j)
+                for (i = j+1; i <= nsing; ++i)
+                    sum += r__[i + j * r_dim1] * wa[i];
+            wa[j] = (wa[j] - sum) / sdiag[j];
         }
-L130:
-        wa[j] = (wa[j] - sum) / sdiag[j];
-        /* L140: */
-    }
-L150:
 
     /*     permute the components of z back to components of x. */
-
     for (j = 1; j <= n; ++j) {
         l = ipvt[j];
         x[l] = wa[j];
-        /* L160: */
     }
-    return;
-
-    /*     last card of subroutine qrsolv. */
-
-} /* qrsolv_ */
+}