#include <nmrNNLSSolver.h>

Public Member Functions
	nmrNNLSSolver (void)

	nmrNNLSSolver (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n)

	nmrNNLSSolver (vctDynamicMatrix< CISSTNETLIB_DOUBLE > &C, vctDynamicMatrix< CISSTNETLIB_DOUBLE > &d)

void	Allocate (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n)

void	Allocate (vctDynamicMatrix< CISSTNETLIB_DOUBLE > &C, vctDynamicMatrix< CISSTNETLIB_DOUBLE > &CMN_UNUSED(d))

void	Solve (vctDynamicMatrix< CISSTNETLIB_DOUBLE > &C, vctDynamicMatrix< CISSTNETLIB_DOUBLE > d) throw (std::runtime_error)

const vctDynamicMatrix < CISSTNETLIB_DOUBLE > &	GetX (void) const

const vctDynamicMatrix < CISSTNETLIB_DOUBLE > &	GetDual (void) const

CISSTNETLIB_DOUBLE	GetRNorm (void) const

Protected Attributes
CISSTNETLIB_INTEGER	M

CISSTNETLIB_INTEGER	N

CISSTNETLIB_INTEGER	Mda

CISSTNETLIB_INTEGER	Mode

CISSTNETLIB_DOUBLE	RNorm

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	X

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	W

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	Zz

vctDynamicMatrix < CISSTNETLIB_INTEGER >	Index

Detailed Description

Algorithm NNLS: Non Negative Least Squares

The original version of this code was developed by Charles L. Lawson and Richard J. Hanson at Jet Propulsion Laboratory 1973 JUN 15, and published in the book "Solves Least Squares Problems", Prentice-Hall, 1974.

Given a $M \times N$ matrix A, and a $M \times 1$ vector B, compute a $N \times 1$ vector X, that solves the least squares problem:

$\mbox{min} \; 1 / 2 \| AX - B \| \; \mbox{subject to} \; X \geq 0$

The data members of this class are:

M, N: Dimension of input matrix.
MDA: Is the first dimension parameter for the matrix A.
A: On entry contains the $M \times N$ matrix A. On exit the matrix product of , where Q is a $M \times N$ orthogonal matrix generated implicitly by this subroutine.
B: On entry contains the $M \times 1$ matrix B> On exit the matrix product if
X: On exit X contains the solution vector>
rnorm: Contains the Euclidean norm of the residual vector.
W: A $N \times 1$ working array. On exit W constrains the dual solution vector>
ZZ: A $M \times 1$ working array.
Index: A working array of integers of size atleast $N \times 1$

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

nmrNNLSSolver::nmrNNLSSolver ( 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.

nmrNNLSSolver::nmrNNLSSolver	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n
	)

inline

Constructor with memory allocation. This constructor allocates the memory based on M and N. 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 C
n	Number of columns of C

nmrNNLSSolver::nmrNNLSSolver	(	vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	C,
		vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	d
	)

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 nmrNNLSSolver::Allocate	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n
	)

inline

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

Parameters

m	Number of rows of C
n	Number of columns of C

void nmrNNLSSolver::Allocate	(	vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	C,
		vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	CMN_UNUSEDd
	)

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.

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrNNLSSolver::GetDual ( void ) const

inline

CISSTNETLIB_DOUBLE nmrNNLSSolver::GetRNorm ( void ) const

inline

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrNNLSSolver::GetX ( void ) const

inline

Get X. This method must be used after Solve().

void nmrNNLSSolver::Solve	(	vctDynamicMatrix< CISSTNETLIB_DOUBLE > &	C,
		vctDynamicMatrix< CISSTNETLIB_DOUBLE >	d
	)
throw	(	std::runtime_error
	)

inline

Given a $M \times N$ matrix A, and a $M \times 1$ vector B, compute a $N \times 1$ vector X, that solves the least squares problem:

$\mbox{min} \; 1 / 2 \| AX - B \| \; \mbox{subject to} \; X \geq 0$

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_INTEGER> nmrNNLSSolver::Index

protected

CISSTNETLIB_INTEGER nmrNNLSSolver::M

protected

CISSTNETLIB_INTEGER nmrNNLSSolver::Mda

protected

CISSTNETLIB_INTEGER nmrNNLSSolver::Mode

protected

CISSTNETLIB_INTEGER nmrNNLSSolver::N

protected

CISSTNETLIB_DOUBLE nmrNNLSSolver::RNorm

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrNNLSSolver::W

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrNNLSSolver::X

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrNNLSSolver::Zz

protected

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation