1 ///////////////////////////////////////////////////////////////////////////////// 2 // 3 // Solution of linear systems involved in the Levenberg - Marquardt 4 // minimization algorithm 5 // Copyright (C) 2004 Manolis Lourakis (lourakis at ics forth gr) 6 // Institute of Computer Science, Foundation for Research & Technology - Hellas 7 // Heraklion, Crete, Greece. 8 // 9 // This program is free software; you can redistribute it and/or modify 10 // it under the terms of the GNU General Public License as published by 11 // the Free Software Foundation; either version 2 of the License, or 12 // (at your option) any later version. 13 // 14 // This program is distributed in the hope that it will be useful, 15 // but WITHOUT ANY WARRANTY; without even the implied warranty of 16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 17 // GNU General Public License for more details. 18 // 19 ///////////////////////////////////////////////////////////////////////////////// 20 21 /******************************************************************************** 22 * LAPACK-based implementations for various linear system solvers. The same core 23 * code is used with appropriate #defines to derive single and double precision 24 * solver versions, see also Axb_core.c 25 ********************************************************************************/ 26 27 #include <stdio.h> 28 #include <stdlib.h> 29 #include <string.h> 30 #include <math.h> 31 32 #include "levmar.h" 33 #include "misc.h" 34 35 #if !defined(LM_DBL_PREC) && !defined(LM_SNGL_PREC) 36 #error At least one of LM_DBL_PREC, LM_SNGL_PREC should be defined! 37 #endif 38 39 40 #ifdef LM_DBL_PREC 41 /* double precision definitions */ 42 #define LM_REAL double 43 #define LM_PREFIX d 44 #define LM_CNST(x) (x) 45 #ifndef HAVE_LAPACK 46 #include <float.h> 47 #define LM_REAL_EPSILON DBL_EPSILON 48 #endif 49 50 #include "Axb_core.c" 51 52 #undef LM_REAL 53 #undef LM_PREFIX 54 #undef LM_CNST 55 #undef LM_REAL_EPSILON 56 #endif /* LM_DBL_PREC */ 57 58 #ifdef LM_SNGL_PREC 59 /* single precision (float) definitions */ 60 #define LM_REAL float 61 #define LM_PREFIX s 62 #define __SUBCNST(x) x##F 63 #define LM_CNST(x) __SUBCNST(x) // force substitution 64 #ifndef HAVE_LAPACK 65 #define LM_REAL_EPSILON FLT_EPSILON 66 #endif 67 68 #include "Axb_core.c" 69 70 #undef LM_REAL 71 #undef LM_PREFIX 72 #undef __SUBCNST 73 #undef LM_CNST 74 #undef LM_REAL_EPSILON 75 #endif /* LM_SNGL_PREC */ 76