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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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 <span id="projectnumber">1.14.1-dev</span>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <<a class="code" href="pcl__macros_8h.html">pcl/pcl_macros.h</a>></span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#if defined __GNUC__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#pragma GCC system_header</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <unsupported/Eigen/Polynomials></span> <span class="comment">// for PolynomialSolver, PolynomialSolverBase</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="namespace_eigen.html"> 10</a></span> <span class="keyword">namespace </span><a class="code" href="namespace_eigen.html">Eigen</a> {</div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar></div>
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html"> 12</a></span> <span class="keyword">class </span>PolynomialSolver<_Scalar, 2> : <span class="keyword">public</span> PolynomialSolverBase<_Scalar, 2> {</div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a813c522901ec00574eb475a145b9d958"> 14</a></span>  <span class="keyword">using</span> <a class="code" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a813c522901ec00574eb475a145b9d958">PS_Base</a> = PolynomialSolverBase<_Scalar, 2>;</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES(<a class="code" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a813c522901ec00574eb475a145b9d958">PS_Base</a>)</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a2d04f9d9b92ab38d6b0eedb02135aa8a"> 18</a></span>  <span class="keyword">virtual</span> <a class="code" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a2d04f9d9b92ab38d6b0eedb02135aa8a">~PolynomialSolver</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> OtherPolynomial></div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#ac294bc51bec4762b7223c53eb5c12aeb"> 21</a></span>  <span class="keyword">inline</span> <a class="code" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#ac294bc51bec4762b7223c53eb5c12aeb">PolynomialSolver</a>(<span class="keyword">const</span> OtherPolynomial& poly, <span class="keywordtype">bool</span>& hasRealRoot)</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  compute(poly, hasRealRoot);</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  }</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"></span> </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> /** Computes the complex roots of a new polynomial. */</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> OtherPolynomial></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a7c5ae6f9542326a694813d966d4f5ecb"> 29</a></span>  <a class="code" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a7c5ae6f9542326a694813d966d4f5ecb">compute</a>(<span class="keyword">const</span> OtherPolynomial& poly, <span class="keywordtype">bool</span>& hasRealRoot)</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  {</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  constexpr Scalar ZERO(0);</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  Scalar a2(2 * poly[2]);</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  assert(ZERO != poly[poly.size() - 1]);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  Scalar discriminant((poly[1] * poly[1]) - (4 * poly[0] * poly[2]));</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span> (ZERO < discriminant) {</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  Scalar discriminant_root(std::sqrt(discriminant));</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  m_roots[0] = (-poly[1] - discriminant_root) / (a2);</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  m_roots[1] = (-poly[1] + discriminant_root) / (a2);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  hasRealRoot = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  }</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordflow">if</span> (ZERO == discriminant) {</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  m_roots.resize(1);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  m_roots[0] = -poly[1] / a2;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  hasRealRoot = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  }</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  Scalar discriminant_root(std::sqrt(-discriminant));</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  m_roots[0] = RootType(-poly[1] / a2, -discriminant_root / a2);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  m_roots[1] = RootType(-poly[1] / a2, discriminant_root / a2);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  hasRealRoot = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  }</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  }</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> OtherPolynomial></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a6fca31a157dc6251f8f7a02c25163ad1"> 58</a></span>  <a class="code" href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a6fca31a157dc6251f8f7a02c25163ad1">compute</a>(<span class="keyword">const</span> OtherPolynomial& poly)</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  {</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">bool</span> hasRealRoot;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  compute(poly, hasRealRoot);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">using</span> PS_Base::m_roots;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> };</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> } <span class="comment">// namespace Eigen</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html"> 69</a></span> <span class="keyword">namespace </span><a class="code" href="namespace_b_f_g_s_space.html">BFGSSpace</a> {</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c"> 70</a></span> <span class="keyword">enum</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">Status</a> {</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266cab10a4e8409758c42b550b7fe360c1107"> 71</a></span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266cab10a4e8409758c42b550b7fe360c1107">NegativeGradientEpsilon</a> = -3,</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca4253660c2705f409ad59ded45dc8cf63"> 72</a></span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca4253660c2705f409ad59ded45dc8cf63">NotStarted</a> = -2,</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca8a2494b0eccc6c947edf5070cd98ff52"> 73</a></span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca8a2494b0eccc6c947edf5070cd98ff52">Running</a> = -1,</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566"> 74</a></span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">Success</a> = 0,</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca1d9b2822152a7ab13328a8557b23cbcc">NoProgress</a> = 1</div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca1d9b2822152a7ab13328a8557b23cbcc"> 76</a></span> };</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> NX = Eigen::Dynamic></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html"> 80</a></span> <span class="keyword">struct </span><a class="code" href="struct_b_f_g_s_dummy_functor.html">BFGSDummyFunctor</a> {</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#aacde085b5eb2d69696c8f31fe98ab9bd"> 81</a></span>  <span class="keyword">using</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#aacde085b5eb2d69696c8f31fe98ab9bd">Scalar</a> = _Scalar;</div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#a995b4b324b81c8a0f9328c462942b4c7aa69969e34b6207396034e5437b4c00d6"> 82</a></span>  <span class="keyword">enum</span> { <a class="code" href="struct_b_f_g_s_dummy_functor.html#a995b4b324b81c8a0f9328c462942b4c7aa69969e34b6207396034e5437b4c00d6">InputsAtCompileTime</a> = NX };</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85"> 83</a></span>  <span class="keyword">using</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a> = Eigen::Matrix<Scalar, InputsAtCompileTime, 1>;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#a9aa8058a7b5608435587d7406bad70ec"> 85</a></span>  <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#a9aa8058a7b5608435587d7406bad70ec">m_inputs</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#a3bbe611d59bf938e0a780599d04dc97d"> 87</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#a3bbe611d59bf938e0a780599d04dc97d">BFGSDummyFunctor</a>() : <a class="code" href="struct_b_f_g_s_dummy_functor.html#a9aa8058a7b5608435587d7406bad70ec">m_inputs</a>(<a class="code" href="struct_b_f_g_s_dummy_functor.html#a995b4b324b81c8a0f9328c462942b4c7aa69969e34b6207396034e5437b4c00d6">InputsAtCompileTime</a>) {}</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#ac9db11c033d8bb716cc144b3a1f196ba"> 88</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#ac9db11c033d8bb716cc144b3a1f196ba">BFGSDummyFunctor</a>(<span class="keywordtype">int</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#a226e2fb8307ff92d607d00f2f17a4974">inputs</a>) : <a class="code" href="struct_b_f_g_s_dummy_functor.html#a9aa8058a7b5608435587d7406bad70ec">m_inputs</a>(<a class="code" href="struct_b_f_g_s_dummy_functor.html#a226e2fb8307ff92d607d00f2f17a4974">inputs</a>) {}</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#a5eb2d73beaeaa6b1a1185e543ed80f4c"> 90</a></span>  <span class="keyword">virtual</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#a5eb2d73beaeaa6b1a1185e543ed80f4c">~BFGSDummyFunctor</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#a226e2fb8307ff92d607d00f2f17a4974"> 92</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#a226e2fb8307ff92d607d00f2f17a4974">inputs</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">return</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#a9aa8058a7b5608435587d7406bad70ec">m_inputs</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#afce2d52d734f04ed335424c4ac820f04"> 98</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#afce2d52d734f04ed335424c4ac820f04">operator()</a>(<span class="keyword">const</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a>& x) = 0;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#af39483fafd8cf026e9121a892687e5b5"> 100</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#af39483fafd8cf026e9121a892687e5b5">df</a>(<span class="keyword">const</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a>& x, <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a>& <a class="code" href="struct_b_f_g_s_dummy_functor.html#af39483fafd8cf026e9121a892687e5b5">df</a>) = 0;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#a2cde633703e21af2996f1254278daa24"> 102</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#a2cde633703e21af2996f1254278daa24">fdf</a>(<span class="keyword">const</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a>& x, <a class="code" href="struct_b_f_g_s_dummy_functor.html#aacde085b5eb2d69696c8f31fe98ab9bd">Scalar</a>& f, <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a>& <a class="code" href="struct_b_f_g_s_dummy_functor.html#af39483fafd8cf026e9121a892687e5b5">df</a>) = 0;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">virtual</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_dummy_functor.html#aa8fc1ea74854e952e8b9b34277d69db0"> 104</a></span>  <a class="code" href="struct_b_f_g_s_dummy_functor.html#aa8fc1ea74854e952e8b9b34277d69db0">checkGradient</a>(<span class="keyword">const</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">VectorType</a>& <span class="comment">/*g*/</span>)</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca4253660c2705f409ad59ded45dc8cf63">BFGSSpace::NotStarted</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  };</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> };</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"></span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment">/**</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> * BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> * unconstrained nonlinear optimization problems.</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> * For further details please visit: https://en.wikipedia.org/wiki/BFGS_method</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> * The method provided here is almost similar to the one provided by GSL.</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> * It reproduces Fletcher's original algorithm in Practical Methods of Optimization</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> * algorithms : 2.6.2 and 2.6.4 and uses the same politics in GSL with cubic</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> * interpolation whenever it is possible else falls to quadratic interpolation for</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> * alpha parameter.</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html"> 121</a></span> <span class="keyword">class </span><a class="code" href="class_b_f_g_s.html">BFGS</a> {</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1"> 123</a></span>  <span class="keyword">using</span> <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> = <span class="keyword">typename</span> FunctorType::Scalar;</div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78"> 124</a></span>  <span class="keyword">using</span> <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> = <span class="keyword">typename</span> FunctorType::VectorType;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#afee6f4eec88df11f96ee847aa77fe1e5"> 126</a></span>  <a class="code" href="class_b_f_g_s.html#afee6f4eec88df11f96ee847aa77fe1e5">BFGS</a>(FunctorType& _functor) : pnorm(0), g0norm(0), iter(-1), functor(_functor) {}</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26"> 128</a></span>  <span class="keyword">using</span> <a class="code" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> = Eigen::DenseIndex;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html"> 130</a></span>  <span class="keyword">struct </span><a class="code" href="struct_b_f_g_s_1_1_parameters.html">Parameters</a> {</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#a8b96981fc28cedf9118c09644dd15216"> 131</a></span>  <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a8b96981fc28cedf9118c09644dd15216">Parameters</a>()</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  : <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a124d2fde1d7e58b3352f6df857736648">max_iters</a>(400)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ad41c70193175443083b5fe878df3530d">bracket_iters</a>(100)</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a5e471f845fbe0a3f1bfcfce3483ecea1">section_iters</a>(100)</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a86cee48716cde248f581dd687e35236d">rho</a>(0.01)</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a36eba29fe2040ec1c83688781b279312">sigma</a>(0.01)</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ad64d1add80c42776e55fbb5e84617831">tau1</a>(9)</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a8236c158e3ba6ff7e31fc2781267efd4">tau2</a>(0.05)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ae5a3b8e955c271ff97c72e0e7da6ad72">tau3</a>(0.5)</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ab31de1ad373533169b5f7c6e8affa8fe">step_size</a>(1)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  , <a class="code" href="struct_b_f_g_s_1_1_parameters.html#affbbdfd92b8c34a84932ba66b800dd67">order</a>(3)</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  {}</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#a124d2fde1d7e58b3352f6df857736648"> 143</a></span>  <a class="code" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a124d2fde1d7e58b3352f6df857736648">max_iters</a>; <span class="comment">// maximum number of function evaluation</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#ad41c70193175443083b5fe878df3530d"> 144</a></span>  <a class="code" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ad41c70193175443083b5fe878df3530d">bracket_iters</a>;</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#a5e471f845fbe0a3f1bfcfce3483ecea1"> 145</a></span>  <a class="code" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a5e471f845fbe0a3f1bfcfce3483ecea1">section_iters</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#a86cee48716cde248f581dd687e35236d"> 146</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a86cee48716cde248f581dd687e35236d">rho</a>;</div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#a36eba29fe2040ec1c83688781b279312"> 147</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a36eba29fe2040ec1c83688781b279312">sigma</a>;</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#ad64d1add80c42776e55fbb5e84617831"> 148</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ad64d1add80c42776e55fbb5e84617831">tau1</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#a8236c158e3ba6ff7e31fc2781267efd4"> 149</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#a8236c158e3ba6ff7e31fc2781267efd4">tau2</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#ae5a3b8e955c271ff97c72e0e7da6ad72"> 150</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ae5a3b8e955c271ff97c72e0e7da6ad72">tau3</a>;</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#ab31de1ad373533169b5f7c6e8affa8fe"> 151</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#ab31de1ad373533169b5f7c6e8affa8fe">step_size</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="struct_b_f_g_s_1_1_parameters.html#affbbdfd92b8c34a84932ba66b800dd67"> 152</a></span>  <a class="code" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> <a class="code" href="struct_b_f_g_s_1_1_parameters.html#affbbdfd92b8c34a84932ba66b800dd67">order</a>;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  };</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="class_b_f_g_s.html#a1117f2b973fe49b08922c947ccac4bcc">minimize</a>(<a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x);</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="class_b_f_g_s.html#a7093fb69d7c7c7062112de99acb9cc36">minimizeInit</a>(<a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x);</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <a class="code" href="class_b_f_g_s.html#aa8ecd76033d7bb38d852cb514026d5bb">minimizeOneStep</a>(<a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x);</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="class_b_f_g_s.html#a1bb8c4a2c5afff64cd7a6d49abc7fb08">testGradient</a>();</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#aec83c834090574b02259bea23478a306"> 164</a></span>  <a class="code" href="class_b_f_g_s.html#aec83c834090574b02259bea23478a306">resetParameters</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  {</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="class_b_f_g_s.html#ae019c9680d55d111c2f220c0e85b074d">parameters</a> = <a class="code" href="struct_b_f_g_s_1_1_parameters.html">Parameters</a>();</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#ae019c9680d55d111c2f220c0e85b074d"> 169</a></span>  <a class="code" href="struct_b_f_g_s_1_1_parameters.html">Parameters</a> <a class="code" href="class_b_f_g_s.html#ae019c9680d55d111c2f220c0e85b074d">parameters</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#a0abf555d33ec7b4f004b6359dfdfc87c"> 170</a></span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="code" href="class_b_f_g_s.html#a0abf555d33ec7b4f004b6359dfdfc87c">f</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#abf43b9fa70284be62ca1e42b9d416d73"> 171</a></span>  <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> <a class="code" href="class_b_f_g_s.html#abf43b9fa70284be62ca1e42b9d416d73">gradient</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="class_b_f_g_s.html">BFGS</a>&</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  operator=(<span class="keyword">const</span> <a class="code" href="class_b_f_g_s.html">BFGS</a>&);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  lineSearch(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> rho,</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> sigma,</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> tau1,</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> tau2,</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> tau3,</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordtype">int</span> order,</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha1,</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>& alpha_new);</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a></div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  interpolate(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> a,</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> fa,</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> fpa,</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> b,</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> fb,</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> fpb,</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> xmin,</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> xmax,</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordtype">int</span> order);</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  checkExtremum(<span class="keyword">const</span> Eigen::Matrix<Scalar, 4, 1>& coefficients,</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> x,</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>& xmin,</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>& fmin);</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  moveTo(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha);</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  slope();</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  applyF(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a></div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  applyDF(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  applyFDF(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha, <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>& <a class="code" href="class_b_f_g_s.html#a0abf555d33ec7b4f004b6359dfdfc87c">f</a>, <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>& df);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  updatePosition(<a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha, <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x, <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>& <a class="code" href="class_b_f_g_s.html#a0abf555d33ec7b4f004b6359dfdfc87c">f</a>, <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& g);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  changeDirection();</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> delta_f, fp0;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> x0, dx0, dg0, g0, dx, p;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> pnorm, g0norm;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> f_alpha;</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> df_alpha;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> x_alpha;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> g_alpha;</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">// cache "keys"</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> f_cache_key;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> df_cache_key;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> x_cache_key;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> g_cache_key;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> iter;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  FunctorType& functor;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> };</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::checkExtremum</a>(<span class="keyword">const</span> Eigen::Matrix<Scalar, 4, 1>& coefficients,</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  Scalar x,</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  Scalar& xmin,</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  Scalar& fmin)</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> {</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  Scalar y = Eigen::poly_eval(coefficients, x);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">if</span> (y < fmin) {</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  xmin = x;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  fmin = y;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> }</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::moveTo</a>(Scalar alpha)</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> {</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  x_alpha = x0 + alpha * p;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  x_cache_key = alpha;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> }</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="keyword">typename</span> <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">BFGS<FunctorType>::Scalar</a></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::slope</a>()</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> {</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">return</span> (g_alpha.dot(p));</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> }</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">typename</span> <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">BFGS<FunctorType>::Scalar</a></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::applyF</a>(Scalar alpha)</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> {</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">if</span> (alpha == f_cache_key)</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">return</span> f_alpha;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  moveTo(alpha);</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  f_alpha = functor(x_alpha);</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  f_cache_key = alpha;</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">return</span> (f_alpha);</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> }</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">typename</span> <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">BFGS<FunctorType>::Scalar</a></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::applyDF</a>(Scalar alpha)</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> {</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordflow">if</span> (alpha == df_cache_key)</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordflow">return</span> df_alpha;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  moveTo(alpha);</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">if</span> (alpha != g_cache_key) {</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  functor.df(x_alpha, g_alpha);</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  g_cache_key = alpha;</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  }</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  df_alpha = slope();</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  df_cache_key = alpha;</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keywordflow">return</span> (df_alpha);</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> }</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::applyFDF</a>(Scalar alpha, Scalar& f, Scalar& df)</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> {</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">if</span> (alpha == f_cache_key && alpha == df_cache_key) {</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  f = f_alpha;</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  df = df_alpha;</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">if</span> (alpha == f_cache_key || alpha == df_cache_key) {</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  f = applyF(alpha);</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  df = applyDF(alpha);</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  }</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  </div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  moveTo(alpha);</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  functor.fdf(x_alpha, f_alpha, g_alpha);</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  f_cache_key = alpha;</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  g_cache_key = alpha;</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  df_alpha = slope();</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  df_cache_key = alpha;</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  f = f_alpha;</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  df = df_alpha;</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> }</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  </div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::updatePosition</a>(Scalar alpha,</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  FVectorType& x,</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  Scalar& f,</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  FVectorType& g)</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> {</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  {</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  Scalar f_alpha, df_alpha;</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  applyFDF(alpha, f_alpha, df_alpha);</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  };</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  </div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  f = f_alpha;</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  x = x_alpha;</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  g = g_alpha;</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> }</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  </div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::changeDirection</a>()</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> {</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  x_alpha = x0;</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  x_cache_key = 0.0;</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  f_cache_key = 0.0;</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  g_alpha = g0;</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  g_cache_key = 0.0;</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  df_alpha = slope();</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  df_cache_key = 0.0;</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> }</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#a1117f2b973fe49b08922c947ccac4bcc"> 349</a></span> <a class="code" href="class_b_f_g_s.html#a1117f2b973fe49b08922c947ccac4bcc">BFGS<FunctorType>::minimize</a>(<a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x)</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> {</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> status = minimizeInit(x);</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordflow">do</span> {</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  status = minimizeOneStep(x);</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  ++iter;</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  } <span class="keywordflow">while</span> (status == <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a> && iter < parameters.max_iters);</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> }</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#a7093fb69d7c7c7062112de99acb9cc36"> 361</a></span> <a class="code" href="class_b_f_g_s.html#a7093fb69d7c7c7062112de99acb9cc36">BFGS<FunctorType>::minimizeInit</a>(<a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x)</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> {</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  iter = 0;</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  delta_f = 0;</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  dx.setZero();</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  functor.fdf(x, f, gradient);</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  x0 = x;</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  g0 = gradient;</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  g0norm = g0.norm();</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  p = gradient * -1 / g0norm;</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  pnorm = p.norm();</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  fp0 = -g0norm;</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  </div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  {</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  x_alpha = x0;</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  x_cache_key = 0;</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  </div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  f_alpha = f;</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  f_cache_key = 0;</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  g_alpha = g0;</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  g_cache_key = 0;</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  </div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  df_alpha = slope();</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  df_cache_key = 0;</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  }</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  </div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca4253660c2705f409ad59ded45dc8cf63">BFGSSpace::NotStarted</a>;</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> }</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  </div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#aa8ecd76033d7bb38d852cb514026d5bb"> 393</a></span> <a class="code" href="class_b_f_g_s.html#aa8ecd76033d7bb38d852cb514026d5bb">BFGS<FunctorType>::minimizeOneStep</a>(<a class="code" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>& x)</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> {</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> alpha = 0.0, alpha1;</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> f0 = f;</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">if</span> (pnorm == 0.0 || g0norm == 0.0 || fp0 == 0) {</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  dx.setZero();</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca1d9b2822152a7ab13328a8557b23cbcc">BFGSSpace::NoProgress</a>;</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  }</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keywordflow">if</span> (delta_f < 0) {</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> del =</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  std::max(-delta_f, 10 * std::numeric_limits<Scalar>::epsilon() * std::abs(f0));</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  alpha1 = std::min(1.0, 2.0 * del / (-fp0));</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  }</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  alpha1 = std::abs(parameters.step_size);</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> status = lineSearch(parameters.rho,</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  parameters.sigma,</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  parameters.tau1,</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  parameters.tau2,</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  parameters.tau3,</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  parameters.order,</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  alpha1,</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  alpha);</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  </div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="keywordflow">if</span> (status != <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a>)</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  </div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  updatePosition(alpha, x, f, gradient);</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  </div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  delta_f = f - f0;</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="comment">/* Choose a new direction for the next step */</span></div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  {</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <span class="comment">/* This is the BFGS update: */</span></div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="comment">/* p' = g1 - A dx - B dg */</span></div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="comment">/* A = - (1+ dg.dg/dx.dg) B + dg.g/dx.dg */</span></div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="comment">/* B = dx.g/dx.dg */</span></div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  </div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> dxg, dgg, dxdg, dgnorm, A, <a class="code" href="group__common.html#gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47">B</a>;</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  </div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="comment">/* dx0 = x - x0 */</span></div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  dx0 = x - x0;</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  dx = dx0; <span class="comment">/* keep a copy */</span></div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  </div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="comment">/* dg0 = g - g0 */</span></div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  dg0 = gradient - g0;</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  dxg = dx0.dot(gradient);</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  dgg = dg0.dot(gradient);</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  dxdg = dx0.dot(dg0);</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  dgnorm = dg0.norm();</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  </div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">if</span> (dxdg != 0) {</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <a class="code" href="group__common.html#gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47">B</a> = dxg / dxdg;</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  A = -(1.0 + dgnorm * dgnorm / dxdg) * <a class="code" href="group__common.html#gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47">B</a> + dgg / dxdg;</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <a class="code" href="group__common.html#gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47">B</a> = 0;</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  A = 0;</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  }</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  </div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  p = -A * dx0;</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  p += gradient;</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  p += -<a class="code" href="group__common.html#gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47">B</a> * dg0;</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  }</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  </div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  g0 = gradient;</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  x0 = x;</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  g0norm = g0.norm();</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  pnorm = p.norm();</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  </div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> dir = ((p.dot(gradient)) > 0) ? -1.0 : 1.0;</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  p *= dir / pnorm;</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  pnorm = p.norm();</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  fp0 = p.dot(g0);</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  </div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  changeDirection();</div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a>;</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span> }</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  </div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span> <span class="keyword">typename</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00476"></a><span class="lineno"><a class="line" href="class_b_f_g_s.html#a1bb8c4a2c5afff64cd7a6d49abc7fb08"> 476</a></span> <a class="code" href="class_b_f_g_s.html#a1bb8c4a2c5afff64cd7a6d49abc7fb08">BFGS<FunctorType>::testGradient</a>()</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> {</div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="keywordflow">return</span> functor.checkGradient(gradient);</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> }</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  </div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span> <span class="keyword">typename</span> <a class="code" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">BFGS<FunctorType>::Scalar</a></div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::interpolate</a>(Scalar a,</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  Scalar fa,</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  Scalar fpa,</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  Scalar b,</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  Scalar fb,</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  Scalar fpb,</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  Scalar xmin,</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  Scalar xmax,</div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordtype">int</span> order)</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span> {</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  <span class="comment">/* Map [a,b] to [0,1] */</span></div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  Scalar y, alpha, ymin, ymax, fmin;</div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  </div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  ymin = (xmin - a) / (b - a);</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  ymax = (xmax - a) / (b - a);</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  </div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="comment">// Ensure ymin <= ymax</span></div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <span class="keywordflow">if</span> (ymin > ymax) {</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  Scalar tmp = ymin;</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  ymin = ymax;</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  ymax = tmp;</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  };</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  </div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  <span class="keywordflow">if</span> (order > 2 && !(fpb != fpa) && fpb != std::numeric_limits<Scalar>::infinity()) {</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  fpa = fpa * (b - a);</div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  fpb = fpb * (b - a);</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  </div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  Scalar eta = 3 * (fb - fa) - 2 * fpa - fpb;</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  Scalar xi = fpa + fpb - 2 * (fb - fa);</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  Scalar c0 = fa, c1 = fpa, c2 = eta, c3 = xi;</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  Scalar y0, y1;</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  Eigen::Matrix<Scalar, 4, 1> coefficients;</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  coefficients << c0, c1, c2, c3;</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  </div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  y = ymin;</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <span class="comment">// Evaluate the cubic polyinomial at ymin;</span></div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  fmin = Eigen::poly_eval(coefficients, ymin);</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  checkExtremum(coefficients, ymax, y, fmin);</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  {</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  <span class="comment">// Solve quadratic polynomial for the derivate</span></div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  Eigen::Matrix<Scalar, 3, 1> coefficients2;</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  coefficients2 << c1, 2 * c2, 3 * c3;</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="keywordtype">bool</span> real_roots;</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  Eigen::PolynomialSolver<Scalar, 2> solver(coefficients2, real_roots);</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  <span class="keywordflow">if</span> (real_roots) {</div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordflow">if</span> ((solver.roots()).size() == 2) <span class="comment">/* found 2 roots */</span></div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  {</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  y0 = std::real(solver.roots()[0]);</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  y1 = std::real(solver.roots()[1]);</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="keywordflow">if</span> (y0 > y1) {</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  Scalar tmp(y0);</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  y0 = y1;</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  y1 = tmp;</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  }</div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="keywordflow">if</span> (y0 > ymin && y0 < ymax)</div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  checkExtremum(coefficients, y0, y, fmin);</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <span class="keywordflow">if</span> (y1 > ymin && y1 < ymax)</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  checkExtremum(coefficients, y1, y, fmin);</div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  }</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((solver.roots()).size() == 1) <span class="comment">/* found 1 root */</span></div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  {</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  y0 = std::real(solver.roots()[0]);</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <span class="keywordflow">if</span> (y0 > ymin && y0 < ymax)</div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  checkExtremum(coefficients, y0, y, fmin);</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  }</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  }</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  }</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  }</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  fpa = fpa * (b - a);</div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  Scalar fl = fa + ymin * (fpa + ymin * (fb - fa - fpa));</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  Scalar fh = fa + ymax * (fpa + ymax * (fb - fa - fpa));</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  Scalar c = 2 * (fb - fa - fpa); <span class="comment">/* curvature */</span></div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  y = ymin;</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  fmin = fl;</div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  </div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  <span class="keywordflow">if</span> (fh < fmin) {</div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  y = ymax;</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  fmin = fh;</div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  }</div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  </div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  <span class="keywordflow">if</span> (c > a) <span class="comment">/* positive curvature required for a minimum */</span></div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  {</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  Scalar z = -fpa / c; <span class="comment">/* location of minimum */</span></div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keywordflow">if</span> (z > ymin && z < ymax) {</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  Scalar f = fa + z * (fpa + z * (fb - fa - fpa));</div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  <span class="keywordflow">if</span> (f < fmin) {</div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  y = z;</div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  fmin = f;</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  };</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  }</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  }</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  }</div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  </div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  alpha = a + y * (b - a);</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="keywordflow">return</span> alpha;</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span> }</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  </div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span> <span class="keyword">template</span> <<span class="keyword">typename</span> FunctorType></div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span> <a class="code" href="class_b_f_g_s.html">BFGS<FunctorType>::lineSearch</a>(Scalar rho,</div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  Scalar sigma,</div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  Scalar tau1,</div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  Scalar tau2,</div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  Scalar tau3,</div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  <span class="keywordtype">int</span> order,</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  Scalar alpha1,</div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  Scalar& alpha_new)</div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> {</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  Scalar f0, fp0, falpha, falpha_prev, fpalpha, fpalpha_prev, delta, alpha_next;</div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  Scalar alpha = alpha1, alpha_prev = 0.0;</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  Scalar a, b, fa, fb, fpa, fpb;</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  Index i = 0;</div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  </div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  applyFDF(0.0, f0, fp0);</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  </div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  falpha_prev = f0;</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  fpalpha_prev = fp0;</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  </div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="comment">/* Avoid uninitialized variables morning */</span></div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  a = 0.0;</div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  b = alpha;</div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  fa = f0;</div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  fb = 0.0;</div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  fpa = fp0;</div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  fpb = 0.0;</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  </div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  <span class="comment">/* Begin bracketing */</span></div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  </div>
<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  <span class="keywordflow">while</span> (i++ < parameters.bracket_iters) {</div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  falpha = applyF(alpha);</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  </div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  <span class="keywordflow">if</span> (falpha > f0 + alpha * rho * fp0 || falpha >= falpha_prev) {</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  a = alpha_prev;</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  fa = falpha_prev;</div>
<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  fpa = fpalpha_prev;</div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  b = alpha;</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  fb = falpha;</div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  fpb = std::numeric_limits<Scalar>::quiet_NaN();</div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  }</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  </div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  fpalpha = applyDF(alpha);</div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  </div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  <span class="comment">/* Fletcher's sigma test */</span></div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  <span class="keywordflow">if</span> (std::abs(fpalpha) <= -sigma * fp0) {</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  alpha_new = alpha;</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a>;</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  }</div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  </div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  <span class="keywordflow">if</span> (fpalpha >= 0) {</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  a = alpha;</div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  fa = falpha;</div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  fpa = fpalpha;</div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  b = alpha_prev;</div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  fb = falpha_prev;</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  fpb = fpalpha_prev;</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">break</span>; <span class="comment">/* goto sectioning */</span></div>
<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  }</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  </div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  delta = alpha - alpha_prev;</div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  </div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  {</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  Scalar lower = alpha + delta;</div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  Scalar upper = alpha + tau1 * delta;</div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  </div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  alpha_next = interpolate(alpha_prev,</div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  falpha_prev,</div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  fpalpha_prev,</div>
<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  alpha,</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  falpha,</div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  fpalpha,</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  lower,</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  upper,</div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  order);</div>
<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  }</div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  </div>
<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  alpha_prev = alpha;</div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  falpha_prev = falpha;</div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  fpalpha_prev = fpalpha;</div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  alpha = alpha_next;</div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  }</div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="comment">/* Sectioning of bracket [a,b] */</span></div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  <span class="keywordflow">while</span> (i++ < parameters.section_iters) {</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  delta = b - a;</div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  </div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  {</div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  Scalar lower = a + tau2 * delta;</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  Scalar upper = b - tau3 * delta;</div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  </div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  alpha = interpolate(a, fa, fpa, b, fb, fpb, lower, upper, order);</div>
<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  }</div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  falpha = applyF(alpha);</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="keywordflow">if</span> ((a - alpha) * fpa <= std::numeric_limits<Scalar>::epsilon()) {</div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <span class="comment">/* roundoff prevents progress */</span></div>
<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca1d9b2822152a7ab13328a8557b23cbcc">BFGSSpace::NoProgress</a>;</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  };</div>
<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  </div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  <span class="keywordflow">if</span> (falpha > f0 + rho * alpha * fp0 || falpha >= fa) {</div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  <span class="comment">/* a_next = a; */</span></div>
<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  b = alpha;</div>
<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  fb = falpha;</div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  fpb = std::numeric_limits<Scalar>::quiet_NaN();</div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  }</div>
<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  fpalpha = applyDF(alpha);</div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  </div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  <span class="keywordflow">if</span> (std::abs(fpalpha) <= -sigma * fp0) {</div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  alpha_new = alpha;</div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a>; <span class="comment">/* terminate */</span></div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  }</div>
<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  </div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  <span class="keywordflow">if</span> (((b - a) >= 0 && fpalpha >= 0) || ((b - a) <= 0 && fpalpha <= 0)) {</div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  b = a;</div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  fb = fa;</div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  fpb = fpa;</div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  a = alpha;</div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  fa = falpha;</div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  fpa = fpalpha;</div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  }</div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  a = alpha;</div>
<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  fa = falpha;</div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  fpa = fpalpha;</div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  }</div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  }</div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  }</div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  <span class="keywordflow">return</span> <a class="code" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a>;</div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span> }</div>
<div class="ttc" id="aclass_b_f_g_s_html"><div class="ttname"><a href="class_b_f_g_s.html">BFGS</a></div><div class="ttdoc">BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear op...</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00121">bfgs.h:121</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_a0abf555d33ec7b4f004b6359dfdfc87c"><div class="ttname"><a href="class_b_f_g_s.html#a0abf555d33ec7b4f004b6359dfdfc87c">BFGS::f</a></div><div class="ttdeci">Scalar f</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00170">bfgs.h:170</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_a1117f2b973fe49b08922c947ccac4bcc"><div class="ttname"><a href="class_b_f_g_s.html#a1117f2b973fe49b08922c947ccac4bcc">BFGS::minimize</a></div><div class="ttdeci">BFGSSpace::Status minimize(FVectorType &x)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00349">bfgs.h:349</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_a1bb8c4a2c5afff64cd7a6d49abc7fb08"><div class="ttname"><a href="class_b_f_g_s.html#a1bb8c4a2c5afff64cd7a6d49abc7fb08">BFGS::testGradient</a></div><div class="ttdeci">BFGSSpace::Status testGradient()</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00476">bfgs.h:476</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_a281047c6a2c08abfefd9a409bcc718a1"><div class="ttname"><a href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">BFGS::Scalar</a></div><div class="ttdeci">typename FunctorType::Scalar Scalar</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00123">bfgs.h:123</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_a37203a93fbd940e7f80fbffd19a29d26"><div class="ttname"><a href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">BFGS::Index</a></div><div class="ttdeci">Eigen::DenseIndex Index</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00128">bfgs.h:128</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_a7093fb69d7c7c7062112de99acb9cc36"><div class="ttname"><a href="class_b_f_g_s.html#a7093fb69d7c7c7062112de99acb9cc36">BFGS::minimizeInit</a></div><div class="ttdeci">BFGSSpace::Status minimizeInit(FVectorType &x)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00361">bfgs.h:361</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_aa8ecd76033d7bb38d852cb514026d5bb"><div class="ttname"><a href="class_b_f_g_s.html#aa8ecd76033d7bb38d852cb514026d5bb">BFGS::minimizeOneStep</a></div><div class="ttdeci">BFGSSpace::Status minimizeOneStep(FVectorType &x)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00393">bfgs.h:393</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_abf43b9fa70284be62ca1e42b9d416d73"><div class="ttname"><a href="class_b_f_g_s.html#abf43b9fa70284be62ca1e42b9d416d73">BFGS::gradient</a></div><div class="ttdeci">FVectorType gradient</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00171">bfgs.h:171</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_ae019c9680d55d111c2f220c0e85b074d"><div class="ttname"><a href="class_b_f_g_s.html#ae019c9680d55d111c2f220c0e85b074d">BFGS::parameters</a></div><div class="ttdeci">Parameters parameters</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00169">bfgs.h:169</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_ae48965dff67f7b15085c396c001a9a78"><div class="ttname"><a href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">BFGS::FVectorType</a></div><div class="ttdeci">typename FunctorType::VectorType FVectorType</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00124">bfgs.h:124</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_aec83c834090574b02259bea23478a306"><div class="ttname"><a href="class_b_f_g_s.html#aec83c834090574b02259bea23478a306">BFGS::resetParameters</a></div><div class="ttdeci">void resetParameters(void)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00164">bfgs.h:164</a></div></div>
<div class="ttc" id="aclass_b_f_g_s_html_afee6f4eec88df11f96ee847aa77fe1e5"><div class="ttname"><a href="class_b_f_g_s.html#afee6f4eec88df11f96ee847aa77fe1e5">BFGS::BFGS</a></div><div class="ttdeci">BFGS(FunctorType &_functor)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00126">bfgs.h:126</a></div></div>
<div class="ttc" id="aclass_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4_html_a2d04f9d9b92ab38d6b0eedb02135aa8a"><div class="ttname"><a href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a2d04f9d9b92ab38d6b0eedb02135aa8a">Eigen::PolynomialSolver< _Scalar, 2 >::~PolynomialSolver</a></div><div class="ttdeci">virtual ~PolynomialSolver()=default</div></div>
<div class="ttc" id="aclass_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4_html_a6fca31a157dc6251f8f7a02c25163ad1"><div class="ttname"><a href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a6fca31a157dc6251f8f7a02c25163ad1">Eigen::PolynomialSolver< _Scalar, 2 >::compute</a></div><div class="ttdeci">void compute(const OtherPolynomial &poly)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00058">bfgs.h:58</a></div></div>
<div class="ttc" id="aclass_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4_html_a7c5ae6f9542326a694813d966d4f5ecb"><div class="ttname"><a href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a7c5ae6f9542326a694813d966d4f5ecb">Eigen::PolynomialSolver< _Scalar, 2 >::compute</a></div><div class="ttdeci">void compute(const OtherPolynomial &poly, bool &hasRealRoot)</div><div class="ttdoc">Computes the complex roots of a new polynomial.</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00029">bfgs.h:29</a></div></div>
<div class="ttc" id="aclass_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4_html_a813c522901ec00574eb475a145b9d958"><div class="ttname"><a href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#a813c522901ec00574eb475a145b9d958">Eigen::PolynomialSolver< _Scalar, 2 >::PS_Base</a></div><div class="ttdeci">PolynomialSolverBase< _Scalar, 2 > PS_Base</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00014">bfgs.h:14</a></div></div>
<div class="ttc" id="aclass_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4_html_ac294bc51bec4762b7223c53eb5c12aeb"><div class="ttname"><a href="class_eigen_1_1_polynomial_solver_3_01___scalar_00_012_01_4.html#ac294bc51bec4762b7223c53eb5c12aeb">Eigen::PolynomialSolver< _Scalar, 2 >::PolynomialSolver</a></div><div class="ttdeci">PolynomialSolver(const OtherPolynomial &poly, bool &hasRealRoot)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00021">bfgs.h:21</a></div></div>
<div class="ttc" id="agroup__common_html_gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47"><div class="ttname"><a href="group__common.html#gga9d37f00989a9de11b48deb263649463caaf61907b932e6f69308db08e3fa4fe47">pcl::B</a></div><div class="ttdeci">@ B</div><div class="ttdef"><b>Definition:</b> <a href="norms_8h_source.html#l00054">norms.h:54</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html"><div class="ttname"><a href="namespace_b_f_g_s_space.html">BFGSSpace</a></div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00069">bfgs.h:69</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html_a6da6dcc5e99db2044c2526fde6b6266c"><div class="ttname"><a href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a></div><div class="ttdeci">Status</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00070">bfgs.h:70</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html_a6da6dcc5e99db2044c2526fde6b6266ca1d9b2822152a7ab13328a8557b23cbcc"><div class="ttname"><a href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca1d9b2822152a7ab13328a8557b23cbcc">BFGSSpace::NoProgress</a></div><div class="ttdeci">@ NoProgress</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00076">bfgs.h:75</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html_a6da6dcc5e99db2044c2526fde6b6266ca4253660c2705f409ad59ded45dc8cf63"><div class="ttname"><a href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca4253660c2705f409ad59ded45dc8cf63">BFGSSpace::NotStarted</a></div><div class="ttdeci">@ NotStarted</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00072">bfgs.h:72</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html_a6da6dcc5e99db2044c2526fde6b6266ca8a2494b0eccc6c947edf5070cd98ff52"><div class="ttname"><a href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca8a2494b0eccc6c947edf5070cd98ff52">BFGSSpace::Running</a></div><div class="ttdeci">@ Running</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00073">bfgs.h:73</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html_a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566"><div class="ttname"><a href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266ca92b4d0cf91e9b2f69caf9c46f9f40566">BFGSSpace::Success</a></div><div class="ttdeci">@ Success</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00074">bfgs.h:74</a></div></div>
<div class="ttc" id="anamespace_b_f_g_s_space_html_a6da6dcc5e99db2044c2526fde6b6266cab10a4e8409758c42b550b7fe360c1107"><div class="ttname"><a href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266cab10a4e8409758c42b550b7fe360c1107">BFGSSpace::NegativeGradientEpsilon</a></div><div class="ttdeci">@ NegativeGradientEpsilon</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00071">bfgs.h:71</a></div></div>
<div class="ttc" id="anamespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00010">bfgs.h:10</a></div></div>
<div class="ttc" id="apcl__macros_8h_html"><div class="ttname"><a href="pcl__macros_8h.html">pcl_macros.h</a></div><div class="ttdoc">Defines all the PCL and non-PCL macros used.</div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html">BFGS::Parameters</a></div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00130">bfgs.h:130</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_a124d2fde1d7e58b3352f6df857736648"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#a124d2fde1d7e58b3352f6df857736648">BFGS::Parameters::max_iters</a></div><div class="ttdeci">Index max_iters</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00143">bfgs.h:143</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_a36eba29fe2040ec1c83688781b279312"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#a36eba29fe2040ec1c83688781b279312">BFGS::Parameters::sigma</a></div><div class="ttdeci">Scalar sigma</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00147">bfgs.h:147</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_a5e471f845fbe0a3f1bfcfce3483ecea1"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#a5e471f845fbe0a3f1bfcfce3483ecea1">BFGS::Parameters::section_iters</a></div><div class="ttdeci">Index section_iters</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00145">bfgs.h:145</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_a8236c158e3ba6ff7e31fc2781267efd4"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#a8236c158e3ba6ff7e31fc2781267efd4">BFGS::Parameters::tau2</a></div><div class="ttdeci">Scalar tau2</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00149">bfgs.h:149</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_a86cee48716cde248f581dd687e35236d"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#a86cee48716cde248f581dd687e35236d">BFGS::Parameters::rho</a></div><div class="ttdeci">Scalar rho</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00146">bfgs.h:146</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_a8b96981fc28cedf9118c09644dd15216"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#a8b96981fc28cedf9118c09644dd15216">BFGS::Parameters::Parameters</a></div><div class="ttdeci">Parameters()</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00131">bfgs.h:131</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_ab31de1ad373533169b5f7c6e8affa8fe"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#ab31de1ad373533169b5f7c6e8affa8fe">BFGS::Parameters::step_size</a></div><div class="ttdeci">Scalar step_size</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00151">bfgs.h:151</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_ad41c70193175443083b5fe878df3530d"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#ad41c70193175443083b5fe878df3530d">BFGS::Parameters::bracket_iters</a></div><div class="ttdeci">Index bracket_iters</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00144">bfgs.h:144</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_ad64d1add80c42776e55fbb5e84617831"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#ad64d1add80c42776e55fbb5e84617831">BFGS::Parameters::tau1</a></div><div class="ttdeci">Scalar tau1</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00148">bfgs.h:148</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_ae5a3b8e955c271ff97c72e0e7da6ad72"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#ae5a3b8e955c271ff97c72e0e7da6ad72">BFGS::Parameters::tau3</a></div><div class="ttdeci">Scalar tau3</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00150">bfgs.h:150</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_1_1_parameters_html_affbbdfd92b8c34a84932ba66b800dd67"><div class="ttname"><a href="struct_b_f_g_s_1_1_parameters.html#affbbdfd92b8c34a84932ba66b800dd67">BFGS::Parameters::order</a></div><div class="ttdeci">Index order</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00152">bfgs.h:152</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html">BFGSDummyFunctor</a></div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00080">bfgs.h:80</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_a226e2fb8307ff92d607d00f2f17a4974"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#a226e2fb8307ff92d607d00f2f17a4974">BFGSDummyFunctor::inputs</a></div><div class="ttdeci">int inputs() const</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00092">bfgs.h:92</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_a2cde633703e21af2996f1254278daa24"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#a2cde633703e21af2996f1254278daa24">BFGSDummyFunctor::fdf</a></div><div class="ttdeci">virtual void fdf(const VectorType &x, Scalar &f, VectorType &df)=0</div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_a3bbe611d59bf938e0a780599d04dc97d"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#a3bbe611d59bf938e0a780599d04dc97d">BFGSDummyFunctor::BFGSDummyFunctor</a></div><div class="ttdeci">BFGSDummyFunctor()</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00087">bfgs.h:87</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_a5eb2d73beaeaa6b1a1185e543ed80f4c"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#a5eb2d73beaeaa6b1a1185e543ed80f4c">BFGSDummyFunctor::~BFGSDummyFunctor</a></div><div class="ttdeci">virtual ~BFGSDummyFunctor()=default</div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_a995b4b324b81c8a0f9328c462942b4c7aa69969e34b6207396034e5437b4c00d6"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#a995b4b324b81c8a0f9328c462942b4c7aa69969e34b6207396034e5437b4c00d6">BFGSDummyFunctor::InputsAtCompileTime</a></div><div class="ttdeci">@ InputsAtCompileTime</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00082">bfgs.h:82</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_a9aa8058a7b5608435587d7406bad70ec"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#a9aa8058a7b5608435587d7406bad70ec">BFGSDummyFunctor::m_inputs</a></div><div class="ttdeci">const int m_inputs</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00085">bfgs.h:85</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_aa8fc1ea74854e952e8b9b34277d69db0"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#aa8fc1ea74854e952e8b9b34277d69db0">BFGSDummyFunctor::checkGradient</a></div><div class="ttdeci">virtual BFGSSpace::Status checkGradient(const VectorType &)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00104">bfgs.h:104</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_aacde085b5eb2d69696c8f31fe98ab9bd"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#aacde085b5eb2d69696c8f31fe98ab9bd">BFGSDummyFunctor::Scalar</a></div><div class="ttdeci">_Scalar Scalar</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00081">bfgs.h:81</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_ac9db11c033d8bb716cc144b3a1f196ba"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#ac9db11c033d8bb716cc144b3a1f196ba">BFGSDummyFunctor::BFGSDummyFunctor</a></div><div class="ttdeci">BFGSDummyFunctor(int inputs)</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00088">bfgs.h:88</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_af39483fafd8cf026e9121a892687e5b5"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#af39483fafd8cf026e9121a892687e5b5">BFGSDummyFunctor::df</a></div><div class="ttdeci">virtual void df(const VectorType &x, VectorType &df)=0</div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_af3e2658bbe1e45945bec19d1d446bd85"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#af3e2658bbe1e45945bec19d1d446bd85">BFGSDummyFunctor::VectorType</a></div><div class="ttdeci">Eigen::Matrix< Scalar, InputsAtCompileTime, 1 > VectorType</div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00083">bfgs.h:83</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html_afce2d52d734f04ed335424c4ac820f04"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html#afce2d52d734f04ed335424c4ac820f04">BFGSDummyFunctor::operator()</a></div><div class="ttdeci">virtual double operator()(const VectorType &x)=0</div></div>
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