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In the interactive environments, there must be used such an optimization algorithm, running as fast as the refresh rate needs. That could be a problem, because some optimization-based algorithms are quite ``dumber''. When such algorithm is used, some problems could appear. For example, the algorithm jams in the local minimum and is not able to find the global solution. Some more sophisticated algorithms may be used, but the time cost could be probably higher.

The good idea is the use of any minimization solver which could be applied like plug-in module. It is easy to change the solver and it allows usage of handy solver according to a specific situation. There are not problems with matrix inversion as well.

Lukas Barinka 2002-03-21