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NewtonStep.m

NewtonStep.m — Objective-C source code, 0Kb

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function dX = NewtonStep(X,F)

%%%% PERTURBATION ON THE STATE VARIABLES
global delta 

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
dy = zeros(length(F),length(X));

for i = 1:1:length(X)
    X_pert = X;
    X_pert(i) = X(i)+delta;                 % perturb one element 
    [tp,Fp,F_pert] = StrideMap(X_pert);     % Evaluates StrideMap
    dy(:,i) = (F_pert-X_pert)-(F-X);
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    

% Jacobian of the Stride Map error, G(X)
J_g = (dy/delta);

dX = -J_g\(F - X);
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