Stability Experimental Maintainer vandijk.roel@gmail.com, v.dijk.bas@gmail.com
 Contents Model. Levenberg-Marquardt algorithm. Minimization options. Output
Description

A levmar variant that uses Automatic Differentiation to automatically compute the Jacobian.

For additional documentation see the documentation of the levmar C library which this library is based on: http://www.ics.forth.gr/~lourakis/levmar/

Synopsis
type Model r = [r] -> [r]
type Jacobian r = [r] -> [[r]]
jacobianOf :: (HasBasis r, Basis r ~ (), VectorSpace (Scalar r)) => Model (r :~> r) -> Jacobian r
class LevMarable r
levmar :: forall r. (HasBasis r, Basis r ~ (), VectorSpace (Scalar r), LevMarable r) => Model (r :~> r) -> [r] -> [r] -> Integer -> Options r -> Maybe [r] -> Maybe [r] -> Maybe (LinearConstraints r) -> Maybe [r] -> Either LevMarError ([r], Info r, CovarMatrix r)
type LinearConstraints r = ([[r]], [r])
data Options r = Opts {
 optScaleInitMu :: r optStopNormInfJacTe :: r optStopNorm2Dp :: r optStopNorm2E :: r optDelta :: r
}
defaultOpts :: Fractional r => Options r
data Info r = Info {
 infNorm2initE :: r infNorm2E :: r infNormInfJacTe :: r infNorm2Dp :: r infMuDivMax :: r infNumIter :: Integer infStopReason :: StopReason infNumFuncEvals :: Integer infNumJacobEvals :: Integer infNumLinSysSolved :: Integer
}
data StopReason
 = SmallGradient | SmallDp | MaxIterations | SingularMatrix | SmallestError | SmallNorm2E | InvalidValues
type CovarMatrix r = [[r]]
data LevMarError
 = LevMarError | LapackError | FailedBoxCheck | MemoryAllocationFailure | ConstraintMatrixRowsGtCols | ConstraintMatrixNotFullRowRank | TooFewMeasurements
Model.
 type Model r = [r] -> [r] Source

A functional relation describing measurements represented as a function from a list of parameters to a list of expected measurements.

• Ensure that the length of the parameters list equals the length of the initial parameters list in levmar.
• Ensure that the length of the ouput list equals the length of the samples list in levmar.

For example:

```hatfldc :: Model Double
hatfldc [p0, p1, p2, p3] = [ p0 - 1.0
, p0 - sqrt p1
, p1 - sqrt p2
, p3 - 1.0
]
```
 type Jacobian r = [r] -> [[r]] Source

The jacobian of the Model function. Expressed as a function from a list of parameters to a list of lists which for each expected measurement describes the partial derivatives of the parameters.

• Ensure that the length of the parameter list equals the length of the initial parameter list in levmar.
• Ensure that the output matrix has the dimension nxm where n is the number of samples and m is the number of parameters.

For example the jacobian of the above hatfldc model is:

```hatfldc_jac :: Jacobian Double
hatfldc_jac _ p1 p2 _ = [ [1.0,  0.0,           0.0,           0.0]
, [1.0, -0.5 / sqrt p1, 0.0,           0.0]
, [0.0,  1.0,          -0.5 / sqrt p2, 0.0]
, [0.0,  0.0,           0.0,           1.0]
]
```
 jacobianOf :: (HasBasis r, Basis r ~ (), VectorSpace (Scalar r)) => Model (r :~> r) -> Jacobian r Source
Compute the Jacobian of the Model using Automatic Differentiation.
Levenberg-Marquardt algorithm.
 class LevMarable r Source
The Levenberg-Marquardt algorithm is overloaded to work on Double and Float.
Instances
 LevMarable Double LevMarable Float
 levmar Source
 :: forall r . (HasBasis r, Basis r ~ (), VectorSpace (Scalar r), LevMarable r) => Model (r :~> r) Model. Note that ':~>' is overloaded for all the numeric classes. -> [r] Initial parameters -> [r] Samples -> Integer Maximum iterations -> Options r Minimization options -> Maybe [r] Optional lower bounds -> Maybe [r] Optional upper bounds -> Maybe (LinearConstraints r) Optional linear constraints -> Maybe [r] Optional weights -> Either LevMarError ([r], Info r, CovarMatrix r) The Levenberg-Marquardt algorithm that automatically computes the Jacobian using automatic differentiation of the model function. Warning: Don't apply levmar to Models that apply methods of the Eq and Ord classes to the parameters. These methods are undefined for ':~>'!!!
 type LinearConstraints r = ([[r]], [r]) Source
Linear constraints consisting of a constraints matrix, kxm and a right hand constraints vector, kx1 where m is the number of parameters and k is the number of constraints.
Minimization options.
 data Options r Source
Minimization options
Constructors
Opts
 optScaleInitMu :: r Scale factor for initial mu. optStopNormInfJacTe :: r Stopping thresholds for ||J^T e||_inf. optStopNorm2Dp :: r Stopping thresholds for ||Dp||_2. optStopNorm2E :: r Stopping thresholds for ||e||_2. optDelta :: r Step used in the difference approximation to the Jacobian. If optDelta<0, the Jacobian is approximated with central differences which are more accurate (but slower!) compared to the forward differences employed by default.
Instances
 Show r => Show (Options r)
 defaultOpts :: Fractional r => Options r Source
Default minimization options
Output
 data Info r Source
Information regarding the minimization.
Constructors
Info
 infNorm2initE :: r ||e||_2 at initial parameters. infNorm2E :: r ||e||_2 at estimated parameters. infNormInfJacTe :: r ||J^T e||_inf at estimated parameters. infNorm2Dp :: r ||Dp||_2 at estimated parameters. infMuDivMax :: r mu/max[J^T J]_ii ] at estimated parameters. infNumIter :: Integer Number of iterations. infStopReason :: StopReason Reason for terminating. infNumFuncEvals :: Integer Number of function evaluations. infNumJacobEvals :: Integer Number of jacobian evaluations. infNumLinSysSolved :: Integer Number of linear systems solved, i.e. attempts for reducing error.
Instances
 Show r => Show (Info r)
 data StopReason Source
Reason for terminating.
Constructors
 SmallGradient Stopped because of small gradient J^T e. SmallDp Stopped because of small Dp. MaxIterations Stopped because maximum iterations was reached. SingularMatrix Stopped because of singular matrix. Restart from current estimated parameters with increased optScaleInitMu. SmallestError Stopped because no further error reduction is possible. Restart with increased optScaleInitMu. SmallNorm2E Stopped because of small ||e||_2. InvalidValues Stopped because model function returned invalid values (i.e. NaN or Inf). This is a user error.
Instances
 Enum StopReason Show StopReason
 type CovarMatrix r = [[r]] Source
Covariance matrix corresponding to LS solution.
 data LevMarError Source
Constructors
 LevMarError Generic error (not one of the others) LapackError A call to a lapack subroutine failed in the underlying C levmar library. FailedBoxCheck At least one lower bound exceeds the upper one. MemoryAllocationFailure A call to malloc failed in the underlying C levmar library. ConstraintMatrixRowsGtCols The matrix of constraints cannot have more rows than columns. ConstraintMatrixNotFullRowRank Constraints matrix is not of full row rank. TooFewMeasurements Cannot solve a problem with fewer measurements than unknowns. In case linear constraints are provided, this error is also returned when the number of measurements is smaller than the number of unknowns minus the number of equality constraints.
Instances
 Show LevMarError