diff options
Diffstat (limited to 'unsupported/Eigen/src/NonLinearOptimization/dogleg.h')
| -rw-r--r-- | unsupported/Eigen/src/NonLinearOptimization/dogleg.h | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/unsupported/Eigen/src/NonLinearOptimization/dogleg.h b/unsupported/Eigen/src/NonLinearOptimization/dogleg.h index ab01d5c47..fffd9e0be 100644 --- a/unsupported/Eigen/src/NonLinearOptimization/dogleg.h +++ b/unsupported/Eigen/src/NonLinearOptimization/dogleg.h @@ -1,6 +1,7 @@ +namespace internal { template <typename Scalar> -void ei_dogleg( +void dogleg( const Matrix< Scalar, Dynamic, Dynamic > &qrfac, const Matrix< Scalar, Dynamic, 1 > &diag, const Matrix< Scalar, Dynamic, 1 > &qtb, @@ -86,8 +87,8 @@ void ei_dogleg( /* at which the quadratic is minimized. */ bnorm = qtb.stableNorm(); temp = bnorm / gnorm * (bnorm / qnorm) * (sgnorm / delta); - temp = temp - delta / qnorm * ei_abs2(sgnorm / delta) + ei_sqrt(ei_abs2(temp - delta / qnorm) + (1.-ei_abs2(delta / qnorm)) * (1.-ei_abs2(sgnorm / delta))); - alpha = delta / qnorm * (1. - ei_abs2(sgnorm / delta)) / temp; + temp = temp - delta / qnorm * abs2(sgnorm / delta) + sqrt(abs2(temp - delta / qnorm) + (1.-abs2(delta / qnorm)) * (1.-abs2(sgnorm / delta))); + alpha = delta / qnorm * (1. - abs2(sgnorm / delta)) / temp; algo_end: /* form appropriate convex combination of the gauss-newton */ @@ -96,3 +97,4 @@ algo_end: x = temp * wa1 + alpha * x; } +} // end namespace internal |