#include <nmrHFTISolver.h>

Public Member Functions
	nmrHFTISolver (void)

	nmrHFTISolver (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n, CISSTNETLIB_INTEGER nb)

	nmrHFTISolver (vctDynamicMatrix< CISSTNETLIB_DOUBLE > &A, vctDynamicMatrix< CISSTNETLIB_DOUBLE > &B)

void	Allocate (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n, CISSTNETLIB_INTEGER nb)

void	Allocate (vctDynamicMatrix< CISSTNETLIB_DOUBLE > &A, vctDynamicMatrix< CISSTNETLIB_DOUBLE > &B)

void	Solve (vctDynamicMatrix< CISSTNETLIB_DOUBLE > &A, vctDynamicMatrix< CISSTNETLIB_DOUBLE > &B) throw (std::runtime_error)

Protected Attributes
CISSTNETLIB_INTEGER	M

CISSTNETLIB_INTEGER	N

CISSTNETLIB_INTEGER	NB

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	A

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	B

CISSTNETLIB_DOUBLE	tau

CISSTNETLIB_INTEGER	krank

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	RNORM

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	G

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	H

vctDynamicMatrix < CISSTNETLIB_INTEGER >	IP

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	X

Detailed Description

Algorithm LDP: Least Distance Programming

The original version of this code was developed by Charles L. Lawson and Richard J. Hanson at Jet Propulsion Laboratory 1974 MAR 1, and published in the book "Solving Least Squares Problems", Prentice-Hall, 1974.

This can be used to solve a linear least squares problem or a set of least square problem having same matrix but different right-hand side vectors.

The data members of this class are:

M, N: Dimension of input matrix
NB: Dimension of right side input matrix
A: The input matrix
B: A $M \times NB$ matrix, the columns of represent the right-side vectors vectors for linear least squares problem
tau: An absolute tolerance parameter
X: A $M \times NB$ matrix having column vectors (NOTE: if is a $M \times M$ matrix then is the pseudoinverse of .
krank: The pseudorank of A as determined by algorithm.
RNORM: RNORM(j) would contain the euclidean norm of the residual vector for the th column vector
H, G: Working arrays
IP: Integer working array

Note: The input matrices of this class must use a column major storage order. To do so, use VCT_COL_MAJOR whenever you declare a matrix. They must also be compact (see vctDynamicMatrix::IsFortran()).; 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

nmrHFTISolver::nmrHFTISolver ( 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.

nmrHFTISolver::nmrHFTISolver	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n,
		CISSTNETLIB_INTEGER	nb
	)

inline

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

Parameters

m	Number of rows of A
n	Number of columns of A
nb	Number of columns of B

nmrHFTISolver::nmrHFTISolver	(	vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	A,
		vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	B
	)

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.

Member Function Documentation

void nmrHFTISolver::Allocate	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n,
		CISSTNETLIB_INTEGER	nb
	)

inline

This method allocates the memory based on Ma, Na and Nb. The next call to the Solve() method will check that the parameters match the dimension.

Parameters

m	Number of rows of A
n	Number of columns of A
nb	Number of columns of B

void nmrHFTISolver::Allocate	(	vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	A,
		vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	B
	)

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.

void nmrHFTISolver::Solve	(	vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	A,
		vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	B
	)
throw	(	std::runtime_error
	)

inline

Note: This method verifies that the input parameters are using a column major storage order and that they are compact. Both conditions are tested using vctDynamicMatrix::IsFortran(). If the parameters don't meet all the requirements, an exception is thrown (std::runtime_error).

Member Data Documentation

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrHFTISolver::A

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrHFTISolver::B

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrHFTISolver::G

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrHFTISolver::H

protected

vctDynamicMatrix<CISSTNETLIB_INTEGER> nmrHFTISolver::IP

protected

CISSTNETLIB_INTEGER nmrHFTISolver::krank

protected

CISSTNETLIB_INTEGER nmrHFTISolver::M

protected

CISSTNETLIB_INTEGER nmrHFTISolver::N

protected

CISSTNETLIB_INTEGER nmrHFTISolver::NB

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrHFTISolver::RNORM

protected

CISSTNETLIB_DOUBLE nmrHFTISolver::tau

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrHFTISolver::X

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstNumerical/nmrHFTISolver.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation