[16620] | 1 | #include <stdlib.h>
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| 2 | #include <stdio.h>
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| 3 | #include <math.h>
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| 4 |
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| 5 | #include "levmar-2.6/levmar.h"
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| 6 | #include "stack.h"
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| 7 |
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| 8 |
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| 9 | #define STACK_BUF_LEN 128
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| 10 |
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| 11 |
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| 12 | typedef struct {
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| 13 | double data[STACK_BUF_LEN];
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| 14 | int pos;
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| 15 | } D_Stack;
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| 16 |
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| 17 | typedef struct {
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| 18 | int data[STACK_BUF_LEN];
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| 19 | int pos;
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| 20 | } I_Stack;
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| 21 |
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| 22 | // typedef struct {
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| 23 | // double *data;
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| 24 | // int pos;
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| 25 | // } D_StackD;
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| 26 |
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| 27 | // typedef struct {
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| 28 | // int *data;
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| 29 | // int pos;
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| 30 | // } I_StackD;
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| 31 |
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| 32 | I_Stack* new_istack();
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| 33 | int push_istack(I_Stack* stack, int i);
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| 34 | void pop_istack(I_Stack* stack);
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| 35 | int top_istack(I_Stack* stack);
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| 36 | int len_istack(I_Stack* stack);
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| 37 | int get_istack(I_Stack* stack, int pos);
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| 38 | int is_empty_istack(I_Stack* stack);
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| 39 | void clear_istack(I_Stack* stack);
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| 40 | void free_istack(I_Stack* stack);
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| 41 |
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| 42 | D_Stack* new_dstack();
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| 43 | int push_dstack(D_Stack* stack, double f);
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| 44 | void pop_dstack(D_Stack* stack);
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| 45 | double top_dstack(D_Stack* stack);
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| 46 | int len_dstack(D_Stack* stack);
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| 47 | double get_dstack(D_Stack* stack, int pos);
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| 48 | int is_empty_dstack(D_Stack* stack);
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| 49 | void clear_dstack(D_Stack* stack);
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| 50 | void free_dstack(D_Stack* stack);
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| 51 |
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| 52 | I_Stack* new_istack() {
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| 53 | I_Stack* stack = (I_Stack*) malloc(sizeof(I_Stack));
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| 54 | stack->pos = -1;
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| 55 | return stack;
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| 56 | }
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| 57 | int push_istack(I_Stack* stack, int i) {
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| 58 | if (stack->pos +1 >= STACK_BUF_LEN)
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| 59 | return 0;
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| 60 | stack->pos++;
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| 61 | stack->data[stack->pos] = i;
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| 62 | return 1;
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| 63 | }
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| 64 | void pop_istack(I_Stack* stack) {
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| 65 | if (stack->pos >= 0) stack->pos--;
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| 66 | }
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| 67 | int top_istack(I_Stack* stack) {
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| 68 | return stack->data[stack->pos];
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| 69 | }
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| 70 | int len_istack(I_Stack* stack) {
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| 71 | return stack->pos + 1;
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| 72 | }
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| 73 | int get_istack(I_Stack* stack, int pos) {
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| 74 | return stack->data[pos];
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| 75 | }
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| 76 | int is_empty_istack(I_Stack* stack) {
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| 77 | return (stack->pos < 0) ? 1 : 0;
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| 78 | }
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| 79 | void clear_istack(I_Stack* stack) {
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| 80 | stack->pos = -1;
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| 81 | }
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| 82 | void free_istack(I_Stack* stack) {
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| 83 | free(stack);
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| 84 | }
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| 85 |
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| 86 | D_Stack* new_dstack() {
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| 87 | D_Stack* stack = (D_Stack*) malloc(sizeof(D_Stack));
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| 88 | stack->pos = -1;
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| 89 | return stack;
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| 90 | }
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| 91 | int push_dstack(D_Stack* stack, double f) {
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| 92 | if (stack->pos +1 >= STACK_BUF_LEN)
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| 93 | abort();
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| 94 | // return 0;
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| 95 | stack->pos++;
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| 96 | stack->data[stack->pos] = f;
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| 97 | return 1;
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| 98 | }
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| 99 | void pop_dstack(D_Stack* stack) {
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| 100 | if (stack->pos >= 0) stack->pos--;
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| 101 | }
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| 102 | double top_dstack(D_Stack* stack) {
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| 103 | return stack->data[stack->pos];
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| 104 | }
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| 105 | int len_dstack(D_Stack* stack) {
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| 106 | return stack->pos + 1;
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| 107 | }
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| 108 | double get_dstack(D_Stack* stack, int pos) {
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| 109 | return stack->data[pos];
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| 110 | }
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| 111 | int is_empty_dstack(D_Stack* stack) {
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| 112 | return (stack->pos < 0) ? 1 : 0;
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| 113 | }
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| 114 | void clear_dstack(D_Stack* stack) {
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| 115 | stack->pos = -1;
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| 116 | }
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| 117 | void free_dstack(D_Stack* stack) {
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| 118 | free(stack);
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| 119 | }
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 | double stack_eval(double t, double *c_in, double *x_in, D_Stack *d_stack, StackExpr expr );
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| 129 |
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| 130 | void stack_func( double *p, double *x, int m, int n, void *data) {
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| 131 | StackData *sdata = (StackData*)data;
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| 132 |
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| 133 | int x_dim = sdata->x_dim;
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| 134 | double* x_data = sdata->x_data;
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| 135 | D_Stack d_stack;
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| 136 | // d_stack.clear();
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| 137 |
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| 138 | // printf( "HELLO from stack_func\n");
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| 139 |
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| 140 |
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| 141 | int i;
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| 142 | for( i=0; i < n; i++ ) {
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| 143 | // printf( "%d %d %d\n",i,x_dim,sdata->x_len);
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| 144 | x[i] = stack_eval(0,p,&(x_data[i*x_dim]),&d_stack,sdata->expr);
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| 145 | }
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| 146 |
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| 147 | }
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| 148 |
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| 149 | void stack_jacfunc( double *p, double *jac, int m, int n, void *data) {
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| 150 | StackData *sdata = (StackData*)data;
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| 151 |
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| 152 | int x_dim = sdata->x_dim;
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| 153 | double* x_data = sdata->x_data;
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| 154 | D_Stack d_stack;
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| 155 | // d_stack.clear();
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| 156 |
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| 157 | int i,j;
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| 158 | for( i=0; i < n; i++ ) {
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| 159 | for( j=0; j < m; j++ ) {
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| 160 | jac[i*m+j] = stack_eval(0,p,&(x_data[i*x_dim]),&d_stack,sdata->derivs[j]);
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| 161 | }
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| 162 | }
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| 163 |
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| 164 | }
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| 165 |
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| 166 |
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| 167 | void stack_levmar_der( double* ygiven, double* p, const int m, const int n, void* data ) {
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| 168 | double opts[LM_OPTS_SZ], info[LM_INFO_SZ];
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| 169 |
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| 170 | // optimization control parameters; passing to levmar NULL instead of opts reverts to defaults
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| 171 | opts[0]=LM_INIT_MU; opts[1]=1E-15; opts[2]=1E-15; opts[3]=1E-20;
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| 172 | opts[4]=LM_DIFF_DELTA; // relevant only if the finite difference Jacobian version is used
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| 173 |
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| 174 | // invoke the optimization function
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| 175 | dlevmar_der(stack_func, stack_jacfunc, p, ygiven, m, n, 1000, opts, info, NULL, NULL, data); // with analytic Jacobian
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| 176 | }
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| 177 |
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| 178 | void stack_levmar_dif( double* ygiven, double* p, const int m, const int n, void* data ) {
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| 179 | double opts[LM_OPTS_SZ], info[LM_INFO_SZ];
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| 180 |
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| 181 | // printf( "HELLO from stack_levmar_dif\n");
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| 182 | StackData *sdata = (StackData*)data;
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| 183 |
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| 184 | int x_dim = sdata->x_dim;
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| 185 | int x_len = sdata->x_len;
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| 186 | // printf( "x_len: %d x_dim: %d\n",x_len,x_dim);
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| 187 |
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| 188 | // optimization control parameters; passing to levmar NULL instead of opts reverts to defaults
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| 189 | opts[0]=LM_INIT_MU; opts[1]=1E-15; opts[2]=1E-15; opts[3]=1E-20;
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| 190 | opts[4]=LM_DIFF_DELTA; // relevant only if the finite difference Jacobian version is used
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| 191 |
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| 192 | // invoke the optimization function
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| 193 | dlevmar_dif(stack_func, p, ygiven, m, n, 1000, opts, info, NULL, NULL, data); // without Jacobian
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| 194 | }
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| 195 |
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| 196 |
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| 197 | /*
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| 198 | ExprTypes:
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| 199 | ---------------
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| 200 | NULL: 0
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| 201 | STARTLEAF: 1
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| 202 | CONSTANT: 2
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| 203 | TIME: 4
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| 204 | SYSTEM: 5
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| 205 | VAR: 6
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| 206 | LASTLEAF: 7
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| 207 | STARTFUNC: 8
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| 208 | NEG: 9
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| 209 | ABS: 10
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| 210 | SQRT: 11
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| 211 | SIN: 12
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| 212 | COS: 13
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| 213 | TAN: 14
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| 214 | EXP: 15
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| 215 | LASTFUNC: 17
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| 216 | POWI: 18
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| 217 | POWF: 19
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| 218 | POWE: 20
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| 219 | DIV: 21
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| 220 | ADD: 22
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| 221 | MUL: 23
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| 222 | EXPR_MAX: 24
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| 223 | STARTVAR: 25
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| 224 | */
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| 225 |
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| 226 |
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| 227 | // #define print_stack_eval 1
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| 228 |
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| 229 | double stack_eval(double t, double *c_in, double *x_in, D_Stack *d_stack, StackExpr expr ) {
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| 230 |
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| 231 | // I_Stack *serial = new_istack();
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| 232 | // I_Stack istack;
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| 233 | // I_Stack *serial = &istack;
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| 234 |
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| 235 | clear_dstack(d_stack);
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| 236 | int* serial = expr.serial;
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| 237 |
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| 238 |
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| 239 | #ifdef print_stack_eval
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| 240 | printf("Serial: |%d|", expr.s_len);
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| 241 | #endif
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| 242 | int s;
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| 243 | for( s=0; s < expr.s_len; s++ ) {
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| 244 | // #ifdef print_stack_eval
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| 245 | // printf( "%d ", expr.serial[s]);
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| 246 | // #endif
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| 247 | // push_istack(serial,expr.serial[expr.s_len-s-1]);
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| 248 | // }
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| 249 | // #ifdef print_stack_eval
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| 250 | // printf("\n");
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| 251 | // #endif
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| 252 |
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| 253 | // clear_dstack(d_stack);
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| 254 |
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| 255 | // // fill i_stack with cmds and d_stack with leaves
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| 256 | // while ( !is_empty_istack(serial) ) {
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| 257 | // // printf( "processing serial\n");
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| 258 | // int val = top_istack(serial);
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| 259 | // pop_istack(serial);
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| 260 |
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| 261 | int val = serial[s];
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| 262 |
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| 263 | #ifdef print_stack_eval
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| 264 | int dlen = len_dstack(d_stack);
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| 265 | int slen = len_istack(serial);
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| 266 | printf( "S: %d val: %d \n", slen, val );
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| 267 | printf( "serial(%d): [ ", slen);
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| 268 | for( i=0; i < slen; i++ )
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| 269 | printf( "%d ", get_istack(serial,i) );
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| 270 | printf(" ]\n");
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| 271 | printf( "d_stack(%d): [ ", dlen);
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| 272 | for( i=0; i < dlen; i++ )
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| 273 | printf( "%.2f ", get_dstack(d_stack,i) );
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| 274 | printf(" ]\n");
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| 275 | #endif
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| 276 |
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| 277 | switch (val) {
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| 278 |
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| 279 | // CONSTANT: 2
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| 280 | case 2: {
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| 281 | s++;
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| 282 | int p = serial[s];
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| 283 | // int p = top_istack(serial);
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| 284 | // pop_istack(serial);
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| 285 | push_dstack(d_stack,c_in[p]);
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| 286 | }
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| 287 | break;
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| 288 |
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| 289 | // HACK***
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| 290 | // CONSTANTF: 3
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| 291 | case 3: {
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| 292 | s++;
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| 293 | int p = serial[s];
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| 294 | // int p = top_istack(serial);
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| 295 | // pop_istack(serial);
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| 296 | push_dstack(d_stack,p);
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| 297 | }
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| 298 | break;
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| 299 | // TIME: 4
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| 300 | case 4:
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| 301 | push_dstack(d_stack,t);
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| 302 | break;
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| 303 | // SYSTEM: 5
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| 304 | // case 5:
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| 305 | // s++;
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| 306 | // push_dstack(d_stack,sys_in[serial[s]]);
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| 307 | // VAR: 6 should already be transformed, but just in case
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| 308 | case 6: {
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| 309 | s++;
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| 310 | int p = serial[s];
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| 311 | // int p = top_istack(serial);
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| 312 | // pop_istack(serial);
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| 313 | push_dstack(d_stack,x_in[p]);
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| 314 | break;
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| 315 | }
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| 316 | // NEG: 9
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| 317 | case 9: {
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| 318 | double top = top_dstack(d_stack);
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| 319 | pop_dstack(d_stack);
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| 320 | push_dstack(d_stack, -top);
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| 321 | }
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| 322 | break;
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| 323 | // ABS: 10
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| 324 | case 10: {
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| 325 | double top = top_dstack(d_stack);
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| 326 | pop_dstack(d_stack);
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| 327 | push_dstack(d_stack, fabs(top));
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| 328 | }
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| 329 | break;
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| 330 | // SQRT: 11
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| 331 | case 11: {
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| 332 | double top = top_dstack(d_stack);
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| 333 | pop_dstack(d_stack);
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| 334 | push_dstack(d_stack, sqrt(top));
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| 335 | }
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| 336 | break;
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| 337 | // SIN: 12
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| 338 | case 12: {
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| 339 | double top = top_dstack(d_stack);
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| 340 | pop_dstack(d_stack);
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| 341 | push_dstack(d_stack, sin(top));
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| 342 | }
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| 343 | break;
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| 344 | // COS: 13
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| 345 | case 13: {
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| 346 | double top = top_dstack(d_stack);
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| 347 | pop_dstack(d_stack);
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| 348 | push_dstack(d_stack, cos(top));
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| 349 | }
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| 350 | break;
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| 351 | // TAN: 14
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| 352 | case 14: {
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| 353 | double top = top_dstack(d_stack);
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| 354 | pop_dstack(d_stack);
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| 355 | push_dstack(d_stack, tan(top));
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| 356 | }
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| 357 | break;
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| 358 | // EXP: 15
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| 359 | case 15: {
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| 360 | double top = top_dstack(d_stack);
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| 361 | pop_dstack(d_stack);
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| 362 | push_dstack(d_stack, exp(top));
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| 363 | }
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| 364 | break;
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| 365 | // LOG: 16
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| 366 | case 16: {
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| 367 | double top = top_dstack(d_stack);
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| 368 | pop_dstack(d_stack);
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| 369 | push_dstack(d_stack, log(top));
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| 370 | }
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| 371 | break;
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| 372 |
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| 373 | // POWI: 18
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| 374 | case 18: {
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| 375 | double top = top_dstack(d_stack);
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| 376 | pop_dstack(d_stack);
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| 377 | s++;
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| 378 | int pwr = serial[s];
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| 379 | // int pwr = top_istack(serial);
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| 380 | // pop_istack(serial);
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| 381 | push_dstack(d_stack, pow(top,pwr));
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| 382 | }
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| 383 | break;
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| 384 | // POWE: 20
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| 385 | case 20: {
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| 386 | double top = top_dstack(d_stack);
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| 387 | pop_dstack(d_stack);
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| 388 | double pwr = top_dstack(d_stack);
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| 389 | pop_dstack(d_stack);
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| 390 | push_dstack(d_stack, pow(top,pwr));
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| 391 | }
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| 392 | break;
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| 393 | // DIV: 21
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| 394 | case 21: {
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| 395 | double denom = top_dstack(d_stack);
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| 396 | pop_dstack(d_stack);
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| 397 | double numer = top_dstack(d_stack);
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| 398 | pop_dstack(d_stack);
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| 399 | push_dstack(d_stack, numer / denom);
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| 400 | }
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| 401 | break;
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| 402 | // ADD: 22
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| 403 | case 22: {
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| 404 | double lhs = top_dstack(d_stack);
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| 405 | pop_dstack(d_stack);
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| 406 | double rhs = top_dstack(d_stack);
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| 407 | pop_dstack(d_stack);
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| 408 | push_dstack(d_stack, lhs + rhs);
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| 409 | // printf( "%f + %f = %f\n", lhs, rhs, top_dstack(d_stack));
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| 410 | }
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| 411 | break;
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| 412 | // MUL: 23
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| 413 | case 23: {
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| 414 | double lhs = top_dstack(d_stack);
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| 415 | pop_dstack(d_stack);
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| 416 | double rhs = top_dstack(d_stack);
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| 417 | pop_dstack(d_stack);
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| 418 | push_dstack(d_stack, lhs * rhs);
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| 419 | // printf( "%f * %f = %f\n", lhs, rhs, top_dstack(d_stack));
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| 420 | }
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| 421 | break;
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| 422 |
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| 423 |
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| 424 |
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| 425 |
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| 426 | case 0:
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| 427 | default:
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| 428 | // STARTVAR: 25
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| 429 | if (val >= 25) {
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| 430 | push_dstack(d_stack,x_in[val-25]); // x_dim_of_var = val - STARTVAR
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| 431 | } else {
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| 432 | printf("pushing unknown cmd %d\n", val);
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| 433 | int s;
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| 434 | for( s=0; s < expr.s_len; s++ ) {
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| 435 | printf( "%d ", expr.serial[s]);
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| 436 | }
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| 437 | printf( "\n");
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| 438 | abort();
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| 439 | }
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| 440 | }
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| 441 |
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| 442 | #ifdef print_stack_eval
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| 443 | dlen = len_dstack(d_stack);
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| 444 | printf( "S: %d val: %d\n", s, val);
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| 445 | printf( "d_stack(%d): [ ", dlen);
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| 446 | for( i=0; i < dlen; i++ )
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| 447 | printf( "%.2f ", get_dstack(d_stack,i) );
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| 448 | printf(" ]\n\n");
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| 449 | #endif
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| 450 | }
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| 451 |
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| 452 | // free(serial);
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| 453 | return top_dstack(d_stack);
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| 454 |
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| 455 | }
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| 456 |
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| 457 |
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