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+/**
+ * $Id$
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+
+#ifndef NAN_INCLUDED_IK_ConjugateGradientSolver_h
+
+#define NAN_INCLUDED_IK_ConjugateGradientSolver_h
+
+/**
+ * @author Laurence Bourn
+ * @date 28/6/2001
+ */
+
+#include "TNT/cmat.h"
+#include "MT_Scalar.h"
+#include "IK_LineMinimizer.h"
+
+/** 
+ * These classes locally minimize n dimensional potenial functions.
+ * See Numerical Recipes in C www.nr.com for more details.
+ * If a n dimensionable potenial function is 
+ * differentiable, then it is diferentiable along
+ * any vector x. This can be found by the dot product
+ * of the gradient operator with x. 
+ * The conjugate gradient solver boils down to 
+ * a collection of line minimizations along various lines
+ * defined by position,direction pairs. There are 
+ * methods in this class to set the lines along which
+ * minimizations via the DiffentiablePotenialFunction1d interface
+ * are to be performed.
+ *	
+ * @warning I don't like data inheritance but it is the most efficient
+ * wasy to do this here.
+ */
+
+
+class DifferentiablePotenialFunctionNd 
+: public DifferentiablePotenialFunction1d 
+{
+public :
+
+	/** 
+	 * Inherited from DiffentiablePotenialFunction1d
+	 *
+	 * virtual
+	 *	MT_Scalar 
+	 * Evaluate1d(
+	 * 	MT_Scalar x
+	 * ) = 0;
+     *
+	 * virtual
+	 * 	MT_Scalar
+	 * Derivative1d(
+	 * 	MT_Scalar x
+	 * ) = 0;
+	 */
+
+	/// Methods to set the current line in N dimensions
+
+		void
+	SetLineVector(
+		const TNT::Vector<MT_Scalar> &pos,
+		const TNT::Vector<MT_Scalar> &dir
+	){
+		m_line_pos = pos;
+		m_line_dir = dir;
+	};
+
+	virtual
+		MT_Scalar
+	Evaluate(
+		const TNT::Vector<MT_Scalar> &x
+	) = 0;
+
+	virtual
+		void
+	Derivative(
+		const TNT::Vector<MT_Scalar> &x,
+		TNT::Vector<MT_Scalar> &dy
+	) = 0;
+
+	/// @return The dimension of the domain of the potenial function
+
+	virtual
+		int
+	Dimension(
+	) const =0;
+	
+	virtual
+	~DifferentiablePotenialFunctionNd(
+	){
+	};
+
+protected :
+
+	DifferentiablePotenialFunctionNd(){};
+
+	TNT::Vector<MT_Scalar> m_line_pos;
+	TNT::Vector<MT_Scalar> m_line_dir;
+
+};
+
+
+class IK_ConjugateGradientSolver 
+: public MEM_NonCopyable
+{
+public :
+
+	/** 
+	 * This class necessarily needs some (potenially large) 
+	 * temporary vectors to aid computation. We therefore
+	 * insist creation of these objects on the heap.
+	 */
+
+	static
+		IK_ConjugateGradientSolver *
+	New(
+	);
+
+	/** 
+	 * Compute the minimum of the potenial function
+	 * starting at point p. On return p contains the 
+	 * computed minima, iter the number of iterations performed,
+	 * fret the potenial value at the minima
+	 */
+
+		void
+	Solve(
+		TNT::Vector<MT_Scalar> &p,
+		MT_Scalar ftol,
+		int &iter,
+		MT_Scalar &fret,
+		DifferentiablePotenialFunctionNd &potenial,
+		int max_its = 200
+	);
+
+	~IK_ConjugateGradientSolver(
+	);
+
+private :
+		void
+	LineMinimize(
+		TNT::Vector<MT_Scalar> & p,
+		const TNT::Vector<MT_Scalar> & xi,
+		MT_Scalar &fret,
+		DifferentiablePotenialFunctionNd &potenial
+	);
+
+	IK_ConjugateGradientSolver(
+	);
+
+		void
+	ArmVectors(
+		int dimension
+	);
+
+
+	TNT::Vector<MT_Scalar> m_g;
+	TNT::Vector<MT_Scalar> m_h;
+	TNT::Vector<MT_Scalar> m_xi;
+
+	TNT::Vector<MT_Scalar> m_xi_temp;
+
+};
+
+#endif
+
+