nmrLSqLinSolutionDynamic Class Reference

#include <nmrLSqLin.h>

Classes
class	Friend

Public Member Functions
	nmrLSqLinSolutionDynamic ()
	nmrLSqLinSolutionDynamic (size_t ma, size_t n)
	nmrLSqLinSolutionDynamic (size_t ma, size_t mg, size_t n)
	nmrLSqLinSolutionDynamic (size_t ma, size_t me, size_t mg, size_t n)
template<typename _matrixOwnerTypeA >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A)
template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeWork >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >
	nmrLSqLinSolutionDynamic (size_t ma, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _vectorOwnerTypeX >
	nmrLSqLinSolutionDynamic (size_t ma, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &inIWork)
template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
	nmrLSqLinSolutionDynamic (size_t ma, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &inIWork)
template<typename _vectorOwnerTypeX >
	nmrLSqLinSolutionDynamic (size_t ma, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &inIWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &inIWork)
template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
	nmrLSqLinSolutionDynamic (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &inIWork)
template<typename _vectorOwnerTypeX >
	nmrLSqLinSolutionDynamic (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
	nmrLSqLinSolutionDynamic (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &inIWork)
template<typename _matrixOwnerTypeA >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A)
template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeWork >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeX >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inIWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inIWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_DOUBLE > &inIWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_DOUBLE > &inIWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
void	Allocate (size_t ma, size_t me, size_t mg, size_t n)
template<typename _vectorOwnerTypeWork >
void	Allocate (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
void	Allocate (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inIWork)
template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >
void	SetRef (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork)
template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >
void	SetRef (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_DOUBLE > &inIWork)
template<typename _vectorOwnerTypeX >
void	SetRef (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &inX)
const vctDynamicVectorRef < CISSTNETLIB_DOUBLE > &	GetX (void) const
const vctDynamicVectorRef < CISSTNETLIB_DOUBLE > &	GetRNorm (void) const
const vctDynamicVectorRef < CISSTNETLIB_DOUBLE > &	GetRNormE (void) const

Static Public Member Functions
static CISSTNETLIB_INTEGER	GetWorkspaceSize (size_t ma, size_t me, size_t mg, size_t n)
static CISSTNETLIB_INTEGER	GetIWorkspaceSize (size_t CMN_UNUSED(ma), size_t me, size_t mg, size_t n)
static CISSTNETLIB_INTEGER	QueryWorkspaceSize_LS (size_t ma, size_t n)
template<typename _matrixOwnerTypeA >
static CISSTNETLIB_INTEGER	GetWorkspaceSize (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >
static CISSTNETLIB_INTEGER	GetWorkspaceSize (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >
static CISSTNETLIB_INTEGER	GetIWorkspaceSize (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >
static CISSTNETLIB_INTEGER	GetWorkspaceSize (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >
static CISSTNETLIB_INTEGER	GetIWorkspaceSize (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG)
static void	AllocateWorkspace (CISSTNETLIB_INTEGER ma, CISSTNETLIB_INTEGER me, CISSTNETLIB_INTEGER mg, CISSTNETLIB_INTEGER n, vctDynamicVector< CISSTNETLIB_DOUBLE > &inWork)
static void	AllocateIWorkspace (CISSTNETLIB_INTEGER ma, CISSTNETLIB_INTEGER me, CISSTNETLIB_INTEGER mg, CISSTNETLIB_INTEGER n, vctDynamicVector< CISSTNETLIB_INTEGER > &inIWork)
template<typename _matrixOwnerTypeA >
static void	AllocateWorkspace (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicVector< CISSTNETLIB_DOUBLE > &inWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >
static void	AllocateWorkspace (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVector< CISSTNETLIB_DOUBLE > &inWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >
static void	AllocateIWorkspace (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVector< CISSTNETLIB_INTEGER > &inIWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >
static void	AllocateWorkspace (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVector< CISSTNETLIB_DOUBLE > &inWork)
template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >
static void	AllocateIWorkspace (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &inG, vctDynamicVector< CISSTNETLIB_INTEGER > &inIWork)

Protected Member Functions
void	Malloc (size_t ma, size_t me, size_t mg, size_t n, bool allocateWorkspace, bool allocateInput, bool allocateOutput)
template<typename _vectorOwnerTypeWork , typename _matrixOwnerTypeI , typename _vectorOwnerTypeX >
void	SetRef (size_t ma, size_t me, size_t mg, size_t n, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &work, vctDynamicMatrixBase< _matrixOwnerTypeI, CISSTNETLIB_DOUBLE > &input, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &x)

Protected Attributes
vctDynamicVector < CISSTNETLIB_DOUBLE >	WorkspaceMemory
vctDynamicVector < CISSTNETLIB_INTEGER >	IWorkspaceMemory
vctDynamicVector < CISSTNETLIB_DOUBLE >	OutputMemory
vctDynamicVector < CISSTNETLIB_DOUBLE >	RNorm
vctDynamicMatrix < CISSTNETLIB_DOUBLE >	InputMemory
vctDynamicMatrixRef < CISSTNETLIB_DOUBLE >	A
vctDynamicMatrixRef < CISSTNETLIB_DOUBLE >	E
vctDynamicMatrixRef < CISSTNETLIB_DOUBLE >	G
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	b
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	f
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	h
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	X
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	RNormL
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	RNormE
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	Work
vctDynamicVectorRef < CISSTNETLIB_INTEGER >	IWork
size_t	m_Ma
size_t	m_Me
size_t	m_Mg
size_t	m_N

Friends
class	Friend

Detailed Description

Note

On exit, the contents of A and b are altered.

There are three ways to call this method to solve the least-squares problem Ax = b, possibly subject to constraints. LS: Solves Ax = b LSI: Solves Ax = b, subject to Gx >= h (inequality constraint) LSEI: Solves Ax = b, subject to Ex = f and Gx >= h (inequality and equality constraints) Following examples illustrate the LS solution.

METHOD 1: User provides input and output matrices/vectors 1) The User allocates memory for these matrices and vectors. vctDynamicMatrix<CISSTNETLIB_DOUBLE> A(5, 4, VCT_COL_MAJOR); vctDynamicVector<CISSTNETLIB_DOUBLE> b(5); vctDynamicVector<CISSTNETLIB_DOUBLE> x(4); 2) The user calls the LS routine nmrLSqLin(A, b, x); The LSqLin method verifies that the size of the solution object matches the input, and allocates workspace memory, which is deallocated when the function ends. The LSqLin function alters the contents of matrix A and vector b. For fixed size the function call is templated by size, e.g. nmrLSqLin<4, 3>(A, b, x);

METHOD 2: Using a preallocated solution object 1) The user creates the input matrix/vector vctDynamicMatrix<CISSTNETLIB_DOUBLE> A(rows, cols, VCT_COL_MAJOR); vctDynamicVector<CISSTNETLIB_DOUBLE> b(rows); 2) The user allocates a solution object which could be of type nmrLSqLinSolutionFixedSize, nmrLSqLinSolutionDynamic and nmrLSqLinSolutionDynamicRef corresponding to fixed size, dynamic matrix or dynamic matrix reference. nmrLSqLinSolutionDynamic solution(A); 3) Call the nmrLSqLin function nmrLSqLin(A, b, solution); The contents of the input matrix A and vector b are modified by this routine. The output vector is available through solution.GetX().

METHOD 3: User provides input and output matrices/vectors and workspace required by LAPACK routine. 1) User creates input and output matrices and vector vctDynamicMatrix<CISSTNETLIB_DOUBLE> A(5, 4, VCT_COL_MAJOR); vctDynamicVector<CISSTNETLIB_DOUBLE> b(5); vctDynamicVector<CISSTNETLIB_DOUBLE> x(4); 2) User also needs to allocate memory for the workspace. This method is particularly useful when the user is using more than one numerical method from the library and is willing to share the workspace between them. In such a case, the user can allocate memory greater than the maximum required by the different methods. To aid the user to determine the minimum workspace required (and not spend time digging into LAPACK documentation) the library provides helper function nmrLSqLinSolutionDynamic::GetWorkspaceSize(input) vctDynamicVector<CISSTNETLIB_DOUBLE> Work(nmrLSqLinSolutionDynamic::GetWorkspaceSize(A)); 3) Call the LS function nmrLSqLin(A, b, x, Work); or For fixed size the above two steps are replaced by nmrLSqLinSolutionFixedSize<5, 0, 0, 4>::TypeWork Work; nmrLSqLin<5, 4>(A, b, x, Work);

Note

The LSqLin functions make use of LAPACK routines. To activate this code, set the CISST_HAS_CISSTNETLIB flag to ON during the configuration with CMake.

The general rule for numerical functions which depend on LAPACK is that column-major matrices should be used everywhere, and that all matrices should be compact.

This is the class for the composite solution container of LSqLin.

Constructor & Destructor Documentation

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( )

inline

The default constuctor. For dynamic size, there are assigned default values, which MUST be changed by calling appropriate methods. (See nmrLSqLinSolutionDynamic::Allocate and nmrLSqLinSolutionDynamic::SetRef)

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  n  )

inline

constructor to use with LS

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  mg, size_t  n  )

inline

constructor to use with LSI

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  me, size_t  mg, size_t  n  )

inline

constructor to use with LSEI

template<typename _matrixOwnerTypeA >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A )

inline

Constructor where user provides the input matrix to specify size. Memory allocation is done for output vector as well as for the Workspace used by LAPACK. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections.

Parameters

A	input matrix

template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

Constructor where user provides the input matrix to specify size. Memory allocation is done for the workspace, inWork. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using more than one numerical method in the same thread, allowing him/her to share the workspace for LAPACK.

Parameters

A	input matrix inWork workspace for LS

template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

Constructor where user provides the size of the input matrix, along with the output vector X and workspace. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrix.

Parameters

ma,n	The size of input matrix
inX	The output vector for LSqLin
inWork	The workspace for LAPACK.

template<typename _vectorOwnerTypeX >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

Constructor where user provides the size of the input matrix, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LS algorithm. Checks are made on the validity of the input and its consistency with the size of input matrix. Memory allocation for the workspace is done by the method. This case covers the scenario where user wants to make all system calls for memory allocation before entering time critical code sections and might be using the LS matrix elsewhere in the same thread.

Parameters

ma,n	The size of input matrix
inX	The output vector for LSqLin

template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

Constructor where user provides the input matrix to specify size, along with vector X and workspace. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LS algorithm. Checks are made on the validity of the input and its consistency with the size of input matrix.

Parameters

inA	The input matrix
inX	The output vector for LSqLin
inWork	The workspace for LAPACK.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G  )

inline

Constructor where user provides the input matrices to specify size. Memory allocation is done for the output vector as well as for the Workspace used by LAPACK. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections.

Parameters

A,G	input matrices

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &  inIWork  )

inline

Constructor where user provides the input matrices to specify size and the workspaces. Memory allocation is done for the output vectors. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using more than one numerical method in the same thread, allowing him/her to share the workspace for LAPACK.

Parameters

A,G	input matrices inWork, inIWork workspace for LSI

template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &  inIWork  )

inline

Constructor where user provides the size of the input matrices along with output X and workspaces. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrices.

Parameters

ma,mg,n	The size of input matrices
inX	The output vector for LSqLin inWork, inIWork workspace for LSI

template<typename _vectorOwnerTypeX >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

Constructor where user provides the size and storage order of the input matrices, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSI algorithm. Checks are made on the validity of the input and its consistency with the size of input matrices. Memory allocation for the workspace is done by the method. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using the LSI matrix elsewhere in the same thread.

Parameters

ma,mg,n	The size of input matrices
inX	The output vector for LSqLin

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &  inIWork  )

inline

Constructor where user provides the input matrices to specify size, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSI algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrix.

Parameters

inA,inG	The input matrices
inX	The output vector for LSqLin inWork, inIWork workspace for LSI

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G  )

inline

Constructor where user provides the input matrices to specify size. Memory allocation is done for the output vector as well as the Workspace used by LAPACK. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections.

Parameters

A,E,G

input matrices

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &  inIWork  )

inline

Constructor where user provides the input matrices to specify size and the workspaces. Memory allocation is done for the output vector. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using more than one numerical method in the same thread, allowing him/her to share the workspace for LAPACK.

Parameters

A,E,G

input matrices inWork, inIWork workspace for LSI

template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &  inIWork  )

inline

Constructor where user provides the size of the input matrices, the output vector X, and the workspaces. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the sizes of the input matrices.

Parameters

ma,me,mg,n	The sizes of input matrices
inX	The output vector for LSqLin inWork, inIWork workspace for LSI

template<typename _vectorOwnerTypeX >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

Constructor where user provides the size of the input matrices, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSEI algorithm. Checks are made on the validity of the input and its consistency with the size of input matrices. Memory allocation for the workspace is done by the method. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using the LSEI matrix elsewhere in the same thread.

Parameters

ma,me,mg,n	The size of input matrices
inX	The output vector for LSqLin

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

nmrLSqLinSolutionDynamic::nmrLSqLinSolutionDynamic ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_INTEGER > &  inIWork  )

inline

Constructor where user provides the input matrices to specify size, along with vector X and the workspaces The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSEI algorithm. Checks are made on the validity of the input and its consistency with the sizes of input matrices.

Parameters

inA,inE,inG	The input matrices
inX	The output vector for LSqLin inWork, inIWork workspace for LSI

Member Function Documentation

template<typename _matrixOwnerTypeA >

void nmrLSqLinSolutionDynamic::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A )

inline

This method allocates memory of the output vector as well as the workspace. This method should be called before the nmrLSqLinSolutionDynamic object is passed to the nmrLSqLin function, as the memory required for the output matrices and workspace are allocated here or to reallocate memory previously allocated by the constructor. Typically, this method is called from a code segment where it is safe to allocate memory and use the solution and workspace later.

Parameters

A	The matrix for which LS needs to be computed, size MxN

template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeWork >

void nmrLSqLinSolutionDynamic::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

This method allocates memory of the output vector and uses the memory provided by the user for the workspace. Check is made to ensure that memory provided by user is sufficient for LS routine of LAPACK. This method should be called before the nmrLSqLinSolutionDynamic object is passed on to the nmrLSqLin function, as the memory required for the output vector and workspace are allocated here or to reallocate memory previously allocated by the constructor. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using more than one numerical method in the same thread, allowing him/her to share the workspace for LAPACK. Typically this method is called from a code segment where it is safe to allocate memory and use the solution and workspace later.

Parameters

A	The matrix for which LS needs to be computed, size MxN
inWork	The vector used for workspace by LS.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >

void nmrLSqLinSolutionDynamic::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G  )

inline

This method allocates memory of the output vector as well as the workspace. This method should be called before the nmrLSqLinSolutionDynamic object is passed to the nmrLSqLin function, as the memory required for the output vector and workspace are allocated here or to reallocate memory previously allocated by the constructor. Typically, this method is called from a code segment where it is safe to allocate memory and use the solution and workspace later.

Parameters

A	The matrix for which LSI needs to be computed, size Ma x N
G	The constraints matrix for LSI, size Mg x N

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

void nmrLSqLinSolutionDynamic::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inIWork  )

inline

This method allocates memory of the output vector and uses the memory provided by the user for the workspace. Check is made to ensure that memory provided by user is sufficient for LSI routine of LAPACK. This method should be called before the nmrLSqLinSolutionDynamic object is passed to the nmrLSqLin function, as the memory required for the output vector and workspace are allocated here or to reallocate memory previously allocated by the constructor. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using more than one numerical method in the same thread, allowing him/her to share the workspace for LAPACK. Typically this method is called from a code segment where it is safe to allocate memory and use the solution and workspace later.

Parameters

A	The matrix for which LSI needs to be computed, size Ma x N
G	The constraints matrix for LSI, size Mg x N
inWork,inIWork	The workspace for LSI.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >

void nmrLSqLinSolutionDynamic::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G  )

inline

This method allocates memory of output vector as well as the workspace. This method should be called before the nmrLSqLinSolutionDynamic object is passed to the nmrLSqLin function, as the memory required for the output vector and workspace are allocated here or to reallocate memory previously allocated by the constructor. Typically, this method is called from a code segment where it is safe to allocate memory and use the solution and workspace later.

Parameters

A	The matrix for which LSEI needs to be computed, size MxN
E	The equality constraints matrix for LSEI, size Me x N
G	The inequality constraints matrix for LSEI, size Mg x N

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

void nmrLSqLinSolutionDynamic::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  E, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  G, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_DOUBLE > &  inIWork  )

inline

This method allocates memory of output vector and uses the memory provided by user for workspace. Check is made to ensure that memory provided by user is sufficient for LSEI routine of LAPACK. This method should be called before the nmrLSqLinSolutionDynamic object is passed to the nmrLSqLin function, as the memory required for the output vector and workspace are allocated here or to reallocate memory previously allocated by the constructor. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using more than one numerical method in the same thread, allowing him/her to share the workspace for LAPACK. Typically this method is called from a code segment where it is safe to allocate memory and use the solution and workspace later.

Parameters

A	The matrix for which LSEI needs to be computed, size MxN
E	The equality constraints matrix for LSEI, size Me x N
G	The inequality constraints matrix for LSEI, size Mg x N
inWork,inIWork	The vector used for workspace by LSEI.

void nmrLSqLinSolutionDynamic::Allocate ( size_t  ma, size_t  me, size_t  mg, size_t  n  )

inline

This method allocates memory of the output vector and optionally for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded Allocate methods.

Parameters

ma	Number of rows of input matrix A (objective)
me	Number of rows of input matrix E (equality constraints)
mg	Number of rows of input matrix G (inequality constraints)
n	Number of cols of input matrix A

template<typename _vectorOwnerTypeWork >

void nmrLSqLinSolutionDynamic::Allocate ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

This method allocates memory of the output vector and optionally for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded Allocate methods.

Parameters

ma	Number of rows of input matrix A (objective)
me	Number of rows of input matrix E (equality constraints)
mg	Number of rows of input matrix G (inequality constraints)
n	Number of cols of input matrix A
inWork	Workspace provided by user

template<typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

void nmrLSqLinSolutionDynamic::Allocate ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inIWork  )

inline

This method allocates memory of the output vector and optionally for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded Allocate methods.

Parameters

ma	Number of rows of input matrix A (objective)
me	Number of rows of input matrix E (equality constraints)
mg	Number of rows of input matrix G (inequality constraints)
n	Number of cols of input matrix A
inWork,inIWork	Workspace provided by user

static void nmrLSqLinSolutionDynamic::AllocateIWorkspace ( CISSTNETLIB_INTEGER  ma, CISSTNETLIB_INTEGER  me, CISSTNETLIB_INTEGER  mg, CISSTNETLIB_INTEGER  n, vctDynamicVector< CISSTNETLIB_INTEGER > &  inIWork  )

inlinestatic

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >

static void nmrLSqLinSolutionDynamic::AllocateIWorkspace ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVector< CISSTNETLIB_INTEGER > &  inIWork  )

inlinestatic

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >

static void nmrLSqLinSolutionDynamic::AllocateIWorkspace ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVector< CISSTNETLIB_INTEGER > &  inIWork  )

inlinestatic

static void nmrLSqLinSolutionDynamic::AllocateWorkspace ( CISSTNETLIB_INTEGER  ma, CISSTNETLIB_INTEGER  me, CISSTNETLIB_INTEGER  mg, CISSTNETLIB_INTEGER  n, vctDynamicVector< CISSTNETLIB_DOUBLE > &  inWork  )

inlinestatic

Helper methods for user to set min working space required by LAPACK LS/LSI/LSEI routine.

Parameters

ma,me,mg,n	The size of matrix whose LS/LSI/LSEI needs to be computed
inWork	A vector that would be resized to meet the requirements of LAPACK LS/LSI/LSEI routine.

template<typename _matrixOwnerTypeA >

static void nmrLSqLinSolutionDynamic::AllocateWorkspace ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicVector< CISSTNETLIB_DOUBLE > &  inWork  )

inlinestatic

Helper methods for user to set min working space required by LAPACK LS routine.

Parameters

inA	The matrix whose LS needs to be computed
inWork	A vector that would be resized to meet the requirements of LAPACK LS routine.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >

static void nmrLSqLinSolutionDynamic::AllocateWorkspace ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVector< CISSTNETLIB_DOUBLE > &  inWork  )

inlinestatic

Helper methods for user to set min working space required by LAPACK LSI routine.

Parameters

inA,inG	The input matrices for LSI.
inWork	A vector that would be resized to meet the requirements of LAPACK LSI routine.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >

static void nmrLSqLinSolutionDynamic::AllocateWorkspace ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVector< CISSTNETLIB_DOUBLE > &  inWork  )

inlinestatic

Helper methods for user to set min working space required by LAPACK LSEI routine.

Parameters

inA,inE,inG	The input matrices for LSEI.
inWork	A vector that would be resized to meet the requirements of LAPACK LSEI routine.

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetIWorkspaceSize ( size_t   CMN_UNUSEDma, size_t  me, size_t  mg, size_t  n  )

inlinestatic

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetIWorkspaceSize ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG  )

inlinestatic

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetIWorkspaceSize ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG  )

inlinestatic

const vctDynamicVectorRef<CISSTNETLIB_DOUBLE>& nmrLSqLinSolutionDynamic::GetRNorm ( void  ) const

inline

const vctDynamicVectorRef<CISSTNETLIB_DOUBLE>& nmrLSqLinSolutionDynamic::GetRNormE ( void  ) const

inline

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetWorkspaceSize ( size_t  ma, size_t  me, size_t  mg, size_t  n  )

inlinestatic

Helper methods for user to set min working space required by LAPACK LS routine.

Parameters

ma,me,mg,n

The size of matrix whose LS/LSI/LSEI needs to be computed

template<typename _matrixOwnerTypeA >

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetWorkspaceSize ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA )

inlinestatic

Helper method to determine the min working space required by LAPACK LS (dgels) routine.

Parameters

inA	The matrix whose LS needs to be computed

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG >

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetWorkspaceSize ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG  )

inlinestatic

Helper method to determine the min working space required by LAPACK LSI routine.

Parameters

inA,inG

The input matrices for LSI.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG >

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::GetWorkspaceSize ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG  )

inlinestatic

Helper method to determine the min working space required by LAPACK LSEI routine.

Parameters

inA,inE,inG

The input matrices for LSEI.

const vctDynamicVectorRef<CISSTNETLIB_DOUBLE>& nmrLSqLinSolutionDynamic::GetX ( void  ) const

inline

In order to get access to X, after it has been computed by calling the nmrLSqLin function, use the following methods.

void nmrLSqLinSolutionDynamic::Malloc ( size_t  ma, size_t  me, size_t  mg, size_t  n, bool  allocateWorkspace, bool  allocateInput, bool  allocateOutput  )

inlineprotected

This method allocates memory of the output vector and optionally for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded Allocate methods.

Parameters

ma	Number of rows of input matrix A (objective)
me	Number of rows of input matrix E (equality constraints)
mg	Number of rows of input matrix G (inequality constraints)
n	Number of cols of input matrix A
allocateWorkspace	If true, allocate memory of workspace as well.
allocateInput	If true, allocate memory of input as well.
allocateOutput	If true, allocate memory of output as well.

static CISSTNETLIB_INTEGER nmrLSqLinSolutionDynamic::QueryWorkspaceSize_LS ( size_t  ma, size_t  n  )

inlinestatic

Method to query LAPACK routine for optimal workspace size. So far, only implemented for LS (dgels). Not needed because result is same as GetWorkspaceSize() above.

<

Todo:

can we assume nhrs=1?

template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >

void nmrLSqLinSolutionDynamic::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

This method must be called before the solution object is passed to the nmrLSqLin function. The user provides the input matrix to specify size, along with vector X and workspace. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrix.

Parameters

inA	The input matrix
inX	The output vector for LSqLin
inWork	The workspace for LS.

template<typename _matrixOwnerTypeA , typename _vectorOwnerTypeX >

void nmrLSqLinSolutionDynamic::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

This method must be called before the solution object is passed to the nmrLSqLin function. The user provides the input matrix to specify size, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrix. Memory allocation for the workspace is done by the method. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using the LS matrix elsewhere in the same thread.

Parameters

inA	The input matrix
inX	The output matrix for LSqLin

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

void nmrLSqLinSolutionDynamic::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inIWork  )

inline

This method must be called before the solution object is passed to the nmrLSqLin function. The user provides the input matrices to specify size, along with vector X and workspace. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of input matrices.

Parameters

inA,inG	The input matrices
inX	The output vector for LSqLin
inWork,inIWork	The workspace for LSI.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX >

void nmrLSqLinSolutionDynamic::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

This method must be called before the solution object is passed to the nmrLSqLin function. The user provides the input matrices to specify size, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrices. Memory allocation for the workspace is done by the method. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using the LS matrix elsewhere in the same thread.

Parameters

inA,inG	The input matrices
inX	The output matrix for LSqLin

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

void nmrLSqLinSolutionDynamic::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_DOUBLE > &  inIWork  )

inline

This method must be called before the solution object is passed to the nmrLSqLin function. The user provides the input matrices to specify size, along with vector X and workspace. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the size of the input matrices.

Parameters

inA,inE,inG	The input matrices
inX	The output vector for LSqLin
inWork,inIWork	The workspace for LSI.

template<typename _matrixOwnerTypeA , typename _matrixOwnerTypeE , typename _matrixOwnerTypeG , typename _vectorOwnerTypeX >

void nmrLSqLinSolutionDynamic::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  inA, vctDynamicMatrixBase< _matrixOwnerTypeE, CISSTNETLIB_DOUBLE > &  inE, vctDynamicMatrixBase< _matrixOwnerTypeG, CISSTNETLIB_DOUBLE > &  inG, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

This method must be called before the solution object is passed to the nmrLSqLin function. The user provides the input matrices to specify size, along with vector X. The solution object now acts as a composite container to hold, pass and manipulate a convenient storage for the LSqLin algorithm. Checks are made on the validity of the input and its consistency with the sizes of the input matrices. Memory allocation for the workspace is done by the method. This case covers the scenario where the user wants to make all system calls for memory allocation before entering time critical code sections and might be using the LSEI matrix elsewhere in the same thread.

Parameters

inA,inE,inG	The input matrices
inX	The output matrix for LSqLin

template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork >

void nmrLSqLinSolutionDynamic::SetRef ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork  )

inline

This method sets memory references of the output vector and for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded SetRef methods.

Parameters

ma,me,mg	Number of rows of input matrix A, E and G respectively
n	Number of cols of input matrix A
inX	The output matrix for LSqLin
inWork	The workspace for LS.

template<typename _vectorOwnerTypeX , typename _vectorOwnerTypeWork , typename _vectorOwnerTypeIWork >

void nmrLSqLinSolutionDynamic::SetRef ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  inWork, vctDynamicVectorBase< _vectorOwnerTypeIWork, CISSTNETLIB_DOUBLE > &  inIWork  )

inline

This method sets memory references of the output vector and for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded SetRef methods.

Parameters

ma,me,mg	Number of rows of input matrix A, E and G respectively
n	Number of cols of input matrix A
inX	The output matrix for LSqLin
inWork/inIWork	The workspace for LSI/LSEI.

template<typename _vectorOwnerTypeX >

void nmrLSqLinSolutionDynamic::SetRef ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  inX  )

inline

This method sets memory references of the output vector and for the workspace required by LS/LSI/LSEI. This method is not meant to be a top-level user API, but is used by other overloaded SetRef methods.

Parameters

ma,me,mg	Number of rows of input matrix A, E and G respectively
n	Number of cols of input matrix A
inX	The output matrix for LSqLin

template<typename _vectorOwnerTypeWork , typename _matrixOwnerTypeI , typename _vectorOwnerTypeX >

void nmrLSqLinSolutionDynamic::SetRef ( size_t  ma, size_t  me, size_t  mg, size_t  n, vctDynamicVectorBase< _vectorOwnerTypeWork, CISSTNETLIB_DOUBLE > &  work, vctDynamicMatrixBase< _matrixOwnerTypeI, CISSTNETLIB_DOUBLE > &  input, vctDynamicVectorBase< _vectorOwnerTypeX, CISSTNETLIB_DOUBLE > &  x  )

inlineprotected

Friends And Related Function Documentation

friend class Friend

friend

Member Data Documentation

vctDynamicMatrixRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::A

protected

References to work or return or input types, these point either to user allocated memory or our memory chunks if needed

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::b

protected

vctDynamicMatrixRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::E

protected

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::f

protected

vctDynamicMatrixRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::G

protected

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::h

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::InputMemory

protected

Memory allocated for input if needed The LSEI (constrained least squares) requires that the input matrices be in one continuous memory block ordered according to fortran order (Column Major format), such that first Mc rows and N columns represent A, Ma rows and N+1 th column represent b, next Me rows represent (E, f) and last Mg rows represent (G, h) where the original LSEI problem is arg min || A x - b ||, s.t. E x = f and G x >= h. The input for LSI is similar other than Me == 0.

vctDynamicVectorRef<CISSTNETLIB_INTEGER> nmrLSqLinSolutionDynamic::IWork

protected

vctDynamicVector<CISSTNETLIB_INTEGER> nmrLSqLinSolutionDynamic::IWorkspaceMemory

protected

size_t nmrLSqLinSolutionDynamic::m_Ma

protected

size_t nmrLSqLinSolutionDynamic::m_Me

protected

size_t nmrLSqLinSolutionDynamic::m_Mg

protected

size_t nmrLSqLinSolutionDynamic::m_N

protected

vctDynamicVector<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::OutputMemory

protected

Memory allocated for output X if needed.

vctDynamicVector<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::RNorm

protected

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::RNormE

protected

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::RNormL

protected

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::Work

protected

vctDynamicVector<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::WorkspaceMemory

protected

Memory allocated for Workspace matrices if needed

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrLSqLinSolutionDynamic::X

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/nmrLSqLin.h