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Gan_LevMarqStruct Struct Reference
[Levenberg-Marquardt algorithm]

Structure for holding state of Levenberg-Marquardt algorithm. More...

#include <gandalf/vision/lev_marq.h>

List of all members.

Public Attributes

Gan_Vector x
 state parameters and old values
Gan_Vector xold
 state parameters and old values
double residual
 existing residual
Gan_SquMatrix A
 information matrix and vector
Gan_Vector a
Gan_SquMatrix P
 covariance matrix
 list of observations
Gan_Vector hF
Gan_Matrix Hx
Gan_Matrix Hz
Gan_Matrix NiHx
Gan_SquMatrix HxTNiHx
Gan_Vector HxTNiv
Gan_Vector Niv
Gan_SquMatrix Ni
 matrix to hold inverse observation covariance for F-type observations
Gan_Bool alloc
 whether this structure was dynamically allocated

Detailed Description

Structure for holding state of Levenberg-Marquardt algorithm.

Member Data Documentation

Gan_Vector Gan_LevMarqStruct::hF

vector used for observation, and matrices for its Jacobians with respect to x and z

Gan_Matrix Gan_LevMarqStruct::NiHx

matrices to hold products N^-1*Hx, Hx^T*N^-1*Hx, Hx^T*N^-1*v and N^-1*v

The documentation for this struct was generated from the following file:
Generated on Fri Mar 17 12:44:53 2006 by  doxygen