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/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/math/CLevenbergMarquardt.h>
#include <mrpt/system/CTicTac.h>
#include <cmath>
#include <iostream>
using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;
double levmarq_final_error = 1e10;
// The error function F(x):
void myFunction(
const CVectorDouble& x, const CVectorDouble& y, CVectorDouble& out_f)
{
out_f.resize(1);
// 1-cos(x+1) *cos(x*y+1)
out_f[0] = 1 - cos(x[0] + 1) * cos(x[0] * x[1] + 1);
}
void TestLevMarq()
{
CVectorDouble optimal_x;
CVectorDouble initial_x;
CVectorDouble y;
CLevenbergMarquardt::TResultInfo info;
CTicTac tictac;
initial_x.resize(2);
initial_x[0] = 1.4; // x
initial_x[1] = 2.5; // y
CVectorDouble increments_x(2);
increments_x.fill(0.0001);
size_t N = 1;
CLevenbergMarquardt lm;
tictac.Tic();
for (size_t k = 0; k < N; k++)
lm.execute(optimal_x, initial_x, myFunction, increments_x, y, info);
levmarq_final_error = std::sqrt(info.final_sqr_err);
#ifdef LEVMARQ_EXAMPLE_VERBOSE
const auto T = tictac.Tac() / N;
cout << "Iterations: " << info.iterations_executed << endl;
cout << "Final sqr error: " << info.final_sqr_err << endl;
cout << endl << "Final optimized position: " << optimal_x << endl;
cout << "Time: " << T * 1e6 << " us" << endl;
info.path.saveToTextFile("lm-path.txt");
cout << "Path saved to 'lm-path.txt'" << endl;
#endif
}
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