cvrQrSolution.h

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/*
 * Copyright (C) 1998
 * Lehrstuhl fuer Technische Informatik, RWTH-Aachen, Germany
 *
 *
 * This file is part of the Computer Vision and Robotics Library (CVR-Lib)
 *
 * The CVR-Lib is free software; you can redistribute it and/or
 * modify it under the terms of the BSD License.
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/**
 * \file   cvrQrSolution.h
 * \author Thomas Rusert
 * \date   02.06.1999
 *
 * $Id: cvrQrSolution.h,v 1.1 2005/04/21 13:11:20 gquiros Exp $
 */

#ifndef _CVR_QR_SOLUTION_H_
#define _CVR_QR_SOLUTION_H_

#include "cvrDecompositionSolution.h"

namespace cvr {

  /**
   * QR solution functor.
   *
   * Solves the linear equation Ax=b as a least-squares problem using QR
   * decomposition A=QR  (Householder transformation) of the given
   * (m,n)-matrix A.
   *
   * @see decompositionSolution::parameters
   * @ingroup gCVR-Lib FormatRequired
   */
  template<class T>
  class qrSolution : public decompositionSolution<T> {
  public:
    /**
     * qrSolution parameter class
     */
    class parameters : public decompositionSolution<T>::parameters {
    public:
      /**
       * default constructor
       */
      parameters();

      /**
       * copy constructor
       */
      parameters(const parameters& other);

      /**
       * copy member.
       */
      parameters& copy(const parameters& other);

      /**
       * Returns the name of this class.
       */
      const std::string& name() const;

      /**
       * returns a pointer to a clone of the parameters.
       */
      virtual parameters* clone() const;

      /**
       * Returns a pointer to a new instance of the parameters.
       */
      virtual parameters* newInstance() const;

      // the parameters

      /**
       * compute residuum?
       */
      bool computeResiduum;
    };

    /**
     * default constructor
     */
    qrSolution();

    /**
     * copy constructor
     */
    qrSolution(const qrSolution& other);

    /**
     * constructor, sets the parameters
     */
    qrSolution(const parameters& theParams);

    /**
     * constructor, sets the matrix A
     */
    qrSolution(const matrix<T>& theMatrix);

    /**
     * returns the current parameters.
     */
    const parameters& getParameters() const;

    /** Apply on place.
     *
     *  Solves the least-squares problem Ax=b and returns the residuum if
     *  computeResiduum==true.
     *
     *  WARNING: For use with multiple right sides b of a set of
     *  equation systems Ax=b, the matrix decomposition is computed
     *  only on calling <em>apply()</em> the first time. After that
     *  the existing decomposition will be used until calling
     *  <em>setParameters()</em>.
     */
    double apply(vector<T>& b);

    /** Apply on copy.
     *
     *  Solves the least-squares problem Ax=b and returns the residuum if
     *  computeResiduum==true.
     *
     *  WARNING: For use with multiple right sides b of a set of
     *  equation systems Ax=b, the matrix decomposition is computed
     *  only on calling <em>apply()</em> the first time. After that
     *  the existing decomposition will be used until calling
     *  <em>setParameters()</em>.
     */
    double apply(const vector<T>& b,vector<T>& x);

    /**
     * Copy data of "other" functor.
     */
    qrSolution& copy(const qrSolution& other);

    /**
     * Returns the name of this class.
     */
    const std::string& name() const;

    /**
     * Returns a pointer to a clone of this functor.
     */
    virtual qrSolution* clone() const;

    /**
     * Returns a pointer to a new instance of this functor.
     */
    virtual qrSolution* newInstance() const;

  protected:
    /**
     * Decomposed vector
     */
    vector<double> dcmpVec_;
    /**
     * Helper vector
     */
    vector<double> helpVec_;
  };

}

#endif