private INonlinearSolution _perform_itr(Rational var1_initial, Rational var2_initial, out int vidRow, out int vidVariable1, out int vidVariable2, out int vidVariable3, out int vidVariable4)
{
var solver = new NelderMeadSolver();
// By CQN solver convention, the vid for a row will always be 0
solver.AddRow(null, out vidRow);
solver.AddGoal(vidRow, 0, true);
// By CQN solver convention, first (and in this case only) variable always has the vid of 1
solver.AddVariable(null, out vidVariable1);
solver.AddVariable(null, out vidVariable2);
solver.AddVariable(null, out vidVariable3);
solver.AddVariable(null, out vidVariable4);
//solver.AddVariable(null, out vidVariable4);
Rational rVariable1 = var1_initial; solver.SetValue(vidVariable1, rVariable1);
Rational rVariable2 = var2_initial; solver.SetValue(vidVariable2, rVariable2);
//Rational rVariable2 = 0.0001; solver.SetValue(vidVariable2, rVariable2);
Rational rVariable3 = -0.2; solver.SetValue(vidVariable3, rVariable3);
Rational rVariable4 = 0.0; solver.SetValue(vidVariable4, rVariable4);
//Setting the evaluators
//solver.FunctionEvaluator = ((m,r,v,n) => { return Math.Pow(v[1] + _decay[1], 2); });
solver.FunctionEvaluator = this.SinxValue;
//solver.GradientEvaluator = SinxGradient;
var param = new NelderMeadSolverParams();
//param.MaximumSearchPoints = 10;
return(solver.Solve(param));
}
public void Config(NelderMeadSolver solver)
{
Configuration = new NelderMeadSolverParams();
Vector3D pos = FEstimatedPosition[0];
Vector3D min = pos - 0.5 * FTolerancePosition[0];
Vector3D max = pos + 0.5 * FTolerancePosition[0];
solver.SetBounds(1, min.x, max.x); // translation
solver.SetBounds(2, min.y, max.y);
solver.SetBounds(3, min.z, max.z);
for (int b = 4; b <= 6; b++)
{
solver.SetBounds(b, -0.5, 0.5); // rotation
}
solver.SetBounds(7, 0.05, 0.49); // fov
solver.SetBounds(8, -1, 1); // shift x
solver.SetBounds(9, -1, 1); // shift y
solver.SetValue(1, pos.x);
solver.SetValue(2, pos.y);
solver.SetValue(3, pos.z);
solver.SetValue(4, VMath.Map(VMath.Random.Next(100), 0, 100, -0.05, 0.05, TMapMode.Float));
solver.SetValue(5, VMath.Map(VMath.Random.Next(100), 0, 100, -0.05, 0.05, TMapMode.Float));
solver.SetValue(6, VMath.Map(VMath.Random.Next(100), 0, 100, -0.05, 0.05, TMapMode.Float));
solver.SetValue(7, 0.01);
solver.SetValue(8, 0.01);
solver.SetValue(9, 0.20);
}
