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
Gan_List *	obs_list
	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

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Detailed Description

Structure for holding state of Levenberg-Marquardt algorithm.

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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

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

• gandalf/vision/lev_marq.h

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