nmrFnSolver Class Reference

#include <nmrFnSolver.h>

Public Member Functions
	nmrFnSolver (void)
	nmrFnSolver (CISSTNETLIB_INTEGER n)
void	Allocate (CISSTNETLIB_INTEGER n)
	nmrFnSolver (vctDynamicVector< CISSTNETLIB_DOUBLE > &X)
void	Allocate (vctDynamicVector< CISSTNETLIB_DOUBLE > &X)
template<int __instanceLine, class __elementType >
void	Solve (nmrCallBackFunctionF< __instanceLine, __elementType > &callBack, vctDynamicVector< CISSTNETLIB_DOUBLE > &X, vctDynamicVector< CISSTNETLIB_DOUBLE > &F, CISSTNETLIB_DOUBLE tolerance) throw (std::runtime_error)

Protected Attributes
CISSTNETLIB_INTEGER	N
CISSTNETLIB_DOUBLE	Tolerance
CISSTNETLIB_INTEGER	Info
CISSTNETLIB_INTEGER	Lwork
vctDynamicVector < CISSTNETLIB_DOUBLE >	Work

Detailed Description

Algorithm Fn: Solve nonlinear set of equations using Powell's method The purpose of this class is to find a zero of a system of N nonlinear functions in N variables by a modification of the powell hybrid method. the user must provide a subroutine which calculates the functions and the jacobian.

The data members of this class are:

• N: The number of variables and also the equations. N >= 0.
• Tolerance: A nonnegative input variable. Termination occurs when the algorithm estimates either that the relative error in the sum of squares is at most Tolerance or that the relative error between X and the solution is at most Tolerance. (Default set to 1.0e-6).
• Work: A working vector of length N*(N+13)/2
• LWork: Length of working array.

• Info: = info is an integer output variable. if the user has terminated execution, info is set to the (negative) value of Flag. see description of FunctionPointer. otherwise, info is set as follows.

  info = 0 improper input parameters.

  info = 1 algorithm estimates that the relative error between x and the solution is at most tol.

  info = 2 number of calls to user function has reached 200*(n+1).

  info = 3 tol is too small. no further improvement in the approximate solution x is possible.

  info = 4 iteration is not making good progress.

The input/output from this class is:

• X: On entry, the inital estimate of solution vector. On exit, final estimate of solution vector.

• callBack: Is object of type nmrCallBackFnSolver used to supply the user method. The user method which belongs to a user defined class 'Cfoo' has the following definition int Cfoo::Mbar (vctDynamicVectorRef<double> &X, vctDynamicVectorRef<double> &F, long int &Flag); The solver calls this method when needed to obtain values for F for a given variable values X. the value of Flag should not be changed by Mbar unless the user wants to terminate execution of Solver. in this case set Flag to a negative integer.

  The following constructor can be used to contruct the nmrCallBackFnSolver object required to be passed to the Solve() method. This object needs to be created only once per given set of nonlinear functions to be minized. nmrCallBackFnSolver<nmrUNIQUE_IDENTIFIER_LINE, Cfoo> callBackObject(this, &Cfoo::Mbar);

Note

This code relies on the ERC CISST cnetlib library. Since cnetlib is optional, make sure that CISST_HAS_CNETLIB has been turned ON during the configuration with CMake.

Constructor & Destructor Documentation

nmrFnSolver::nmrFnSolver ( void  )

inline

Default constructor. This constructor doesn't allocate any memory. If you use this constructor, you will need to use one of the Allocate() methods before you can use the Solve method.

nmrFnSolver::nmrFnSolver ( CISSTNETLIB_INTEGER  n )

inline

Constructor with memory allocation. This constructor allocates the memory based on N. It relies on the method Allocate(). The next call to the Solve() method will check that the parameters match the dimension.

Parameters

n	Number of variables This order will be used for the output as well.

nmrFnSolver::nmrFnSolver ( vctDynamicVector< CISSTNETLIB_DOUBLE > &  X )

inline

Constructor with memory allocation. This constructor allocates the memory based on the actual input of the Solve() method. It relies on the method Allocate(). The next call to the Solve() method will check that the parameters match the dimension and storage order.

Member Function Documentation

void nmrFnSolver::Allocate ( CISSTNETLIB_INTEGER  n )

inline

This method allocates the memory based on N. The next call to the Solve() method will check that the parameters match the dimension.

Parameters

n	Number of variables

void nmrFnSolver::Allocate ( vctDynamicVector< CISSTNETLIB_DOUBLE > &  X )

inline

Allocate memory to solve this problem. This method provides a convenient way to extract the required sizes from the input containers. The next call to the Solve() method will check that the parameters match the dimension.

template<int __instanceLine, class __elementType >

void nmrFnSolver::Solve ( nmrCallBackFunctionF< __instanceLine, __elementType > &  callBack, vctDynamicVector< CISSTNETLIB_DOUBLE > &  X, vctDynamicVector< CISSTNETLIB_DOUBLE > &  F, CISSTNETLIB_DOUBLE  tolerance  ) throw ( std::runtime_error )

inline

This computes the solves nonlinear equations problem invloving N functions in N variables. On input, X contains the starting point, On output, X contains the final estimate F contains the final values

Member Data Documentation

CISSTNETLIB_INTEGER nmrFnSolver::Info

protected

CISSTNETLIB_INTEGER nmrFnSolver::Lwork

protected

CISSTNETLIB_INTEGER nmrFnSolver::N

protected

CISSTNETLIB_DOUBLE nmrFnSolver::Tolerance

protected

vctDynamicVector<CISSTNETLIB_DOUBLE> nmrFnSolver::Work

protected

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The documentation for this class was generated from the following file:

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstNumerical/nmrFnSolver.h