test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/math/CLevenbergMarquardt.h>
#include <mrpt/system/CTicTac.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;
 
// The error function F(x):
void myFunction(
        const CVectorDouble& x, const CVectorDouble& y, CVectorDouble& out_f)
{
        out_f.resize(1);
 
        // 1-cos(x+1) *cos(x*y+1)
        out_f[0] = 1 - cos(x[0] + 1) * cos(x[0] * x[1] + 1);
}
 
// ------------------------------------------------------
//                              TestLM
// ------------------------------------------------------
void TestLM()
{
        CVectorDouble optimal_x;
        CVectorDouble initial_x;
        CVectorDouble increments_x;
        CVectorDouble y;
 
        CLevenbergMarquardt::TResultInfo info;
        CTicTac tictac;
 
        initial_x.resize(2);
        initial_x[0] = 1.4;  // x
        initial_x[1] = 2.5;  // y
 
        increments_x.resize(2);
        increments_x.setConstant(0.0001);
 
        double T;
        size_t N = 1;
 
        CLevenbergMarquardt lm;
        tictac.Tic();
        for (size_t k = 0; k < N; k++)
                lm.execute(optimal_x, initial_x, myFunction, increments_x, y, info);
 
        T = tictac.Tac() / N;
 
        cout << "Iterations: " << info.iterations_executed << endl;
        cout << "Final sqr error: " << info.final_sqr_err << endl;
 
        cout << endl << "Final optimized position: " << optimal_x << endl;
 
        cout << "Time: " << T * 1e6 << " us" << endl;
 
        info.path.saveToTextFile("lm-path.txt");
        cout << "Path saved to 'lm-path.txt'" << endl;
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestLM();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}