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pinv.cpp

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/***************************************************************************
                        pinv.cxx -  description
                       -------------------------
    begin                : June 2006
    copyright            : (C) 2006 Erwin Aertbelien
    email                : firstname.lastname@mech.kuleuven.ac.be

 History (only major changes)( AUTHOR-Description ) :
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library 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     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


#include <math.h>
#include <assert.h>
#include <kdl/pinv.hpp>
#include <iostream>
#include <algorithm>

inline double PYTHAG(double a,double b) {
        double at,bt,ct;
        at = fabs(a);
        bt = fabs(b);
        if (at > bt ) {
                ct=bt/at;
                return at*sqrt(1.0+ct*ct);
        } else {
                if (bt==0)
                        return 0.0;
                else {
                        ct=at/bt;
                        return bt*sqrt(1.0+ct*ct);
                }
        }
}


inline double SIGN(double a,double b) {
        return ((b) >= 0.0 ? fabs(a) : -fabs(a));
}

int svdcmp(
        double *a,
        int stridea,
        int m,int n,
        double* w,
        double* v,
        int stridev,
        int NrIts,
        double* vec )
{
        double maxarg1,maxarg2;
        int flag,i,its=0,j,jj,k,l=0,nm=0;
        double c,f,h,s,x,y,z;
        double anorm=0.0,g=0.0,scale=0.0;
        
        /* adapt conventions from 0-based to 1-based */
        a = a - stridea - 1;
        w = w - 1;
        v = v - stridev - 1;
        vec = vec - 1;
        /*****/
        if (m<n)  return(1);
        /* Householder reduction to bidiagonal form. */
        for (i=1;i<=n;++i) {
                l=i+1;
                vec[i]=scale*g;
                g=s=scale=0.0;
                if (i<=m) {
                        for (k=i;k<=m;++k) scale += fabs(a[k*stridea+i]);
                        if (scale) {
                                for (k=i;k<=m;++k) {
                                        a[k*stridea+i] /= scale;
                                        s += a[k*stridea+i]*a[k*stridea+i];
                                }
                                f=a[i*stridea+i];
                                g = -SIGN(sqrt(s),f);
                                h=f*g-s;
                                a[i*stridea+i]=f-g;
                                if (i != n) {
                                        for (j=l;j<=n;++j) {
                                                for (s=0.0,k=i;k<=m;++k) s += a[k*stridea+i]*a[k*stridea+j];
                                                f=s/h;
                                                for (k=i;k<=m;++k) a[k*stridea+j] += f*a[k*stridea+i];
                                        }
                                }
                                for (k=i;k<=m;++k) a[k*stridea+i] *= scale;
                        }
                }
                w[i]=scale*g;
                g=s=scale=0.0;
                if (i <= m && i != n) {
                        for (k=l;k<=n;++k) scale += fabs(a[i*stridea+k]);
                        if (scale) {
                                for (k=l;k<=n;++k) {
                                        a[i*stridea+k] /= scale;
                                        s += a[i*stridea+k]*a[i*stridea+k];
                                }
                                f=a[i*stridea+l];
                                g = -SIGN(sqrt(s),f);
                                h=f*g-s;
                                a[i*stridea+l]=f-g;
                                for (k=l;k<=n;k++) vec[k]=a[i*stridea+k]/h;
                                if (i != m) {
                                        for (j=l;j<=m;++j) {
                                                for (s=0.0,k=l;k<=n;k++) s += a[j*stridea+k]*a[i*stridea+k];
                                                for (k=l;k<=n;k++) a[j*stridea+k] += s*vec[k];
                                        }
                                }
                                for (k=l;k<=n;++k) a[i*stridea+k] *= scale;
                        }
                }
                maxarg1=anorm;
                maxarg2=(fabs(w[i])+fabs(vec[i]));
                anorm = maxarg1 > maxarg2 ?     maxarg1 : maxarg2;              
        }
        /* Accumulation of right-hand transformations. */
        for (i=n;i>=1;--i) {
        if (i<n) {
                if (g) {
                        for (j=l;j<=n;++j) v[j*stridev+i]=(a[i*stridea+j]/a[i*stridea+l])/g;
                        for (j=l;j<=n;++j) {
                                for (s=0.0,k=l;k<=n;++k) s += a[i*stridea+k]*v[k*stridev+j];
                                for (k=l;k<=n;++k) v[k*stridev+j] += s*v[k*stridev+i];
                        }
                }
                for (j=l;j<=n;++j) v[i*stridev+j]=v[j*stridev+i]=0.0;
        }
        v[i*stridev+i]=1.0;
        g=vec[i];
        l=i;
        }
        /* Accumulation of left-hand transformations. */
        for (i=n;i>=1;--i) {
        l=i+1;
        g=w[i];
        if (i<n) for (j=l;j<=n;++j) a[i*stridea+j]=0.0;
        if (g) {
                g=1.0/g;
                if (i != n) {
                        for (j=l;j<=n;++j) {
                                for (s=0.0,k=l;k<=m;++k) s += a[k*stridea+i]*a[k*stridea+j];
                                f=(s/a[i*stridea+i])*g;
                                for (k=i;k<=m;++k) a[k*stridea+j] += f*a[k*stridea+i];
                        }
                }
                for (j=i;j<=m;++j) a[j*stridea+i] *= g;
        } else {
                for (j=i;j<=m;++j) a[j*stridea+i]=0.0;
        }
        ++a[i*stridea+i];
        }
        /* Diagonalization of the bidiagonal form. */
        for (k=n;k>=1;--k) { /* Loop over singular values. */
        for (its=1;its<=NrIts;its++) {  /* Loop over allowed iterations. */
                flag=1;
                for (l=k;l>=1;--l) {  /* Test for splitting. */
                        nm=l-1;             /* Note that vec[1] is always zero. */
                        if ((double)(fabs(vec[l])+anorm) == anorm) {
                                flag=0;
                                break;
                        }
                        if ((double)(fabs(w[nm])+anorm) == anorm) break;
                }
                if (flag) {
                        c=0.0;           /* Cancellation of vec[l], if l>1: */
                        s=1.0;
                        for (i=l;i<=k;++i) {
                                f=s*vec[i];
                                vec[i]=c*vec[i];
                                if ((double)(fabs(f)+anorm) == anorm) break;
                                g=w[i];
                                w[i]=h=PYTHAG(f,g);
                                h=1.0/h;
                                c=g*h;
                                s=(-f*h);
                                for (j=1;j<=m;++j) {
                                        y=a[j*stridea+nm];
                                        z=a[j*stridea+i];
                                                a[j*stridea+nm]=y*c+z*s;
                                        a[j*stridea+i]=z*c-y*s;
                                }
                        }
                }
                z=w[k];
                if (l == k) {       /* Convergence. */
                        if (z <= 0.0) {   /* Singular value is made nonnegative. */
                                w[k] = -z;
                                for (j=1;j<=n;++j) v[j*stridev+k]=(-v[j*stridev+k]);
                        }
                        break;
                }
                x=w[l];            /* Shift from bottom 2-by-2 minor: */
                nm=k-1;
                y=w[nm];
                g=vec[nm];
                h=vec[k];
                f=((y-z)*(y+z)+(g-h)*(g+h))/(2.0*h*y);
                g=PYTHAG(f,1.0);
                f=((x-z)*(x+z)+h*((y/(f+SIGN(g,f)))-h))/x;
                /* Next QR transformation: */
                c=s=1.0;
                for (j=l;j<=nm;++j) {
                        i=j+1;
                        g=vec[i];
                        y=w[i];
                        h=s*g;
                        g=c*g;
                        z=PYTHAG(f,h);
                        vec[j]=z;
                        c=f/z;
                        s=h/z;
                        f=x*c+g*s;
                        g=g*c-x*s;
                        h=y*s;
                        y=y*c;
                        for (jj=1;jj<=n;++jj) {
                                x=v[jj*stridev+j];
                                z=v[jj*stridev+i];
                                v[jj*stridev+j]=x*c+z*s;
                                v[jj*stridev+i]=z*c-x*s;
                        }
                        z=PYTHAG(f,h);
                        w[j]=z;
                        if (z) {
                                z=1.0/z;
                                c=f*z;
                                s=h*z;
                        }
                        f=(c*g)+(s*y);
                        x=(c*y)-(s*g);
                        for (jj=1;jj<=m;++jj) {
                                y=a[jj*stridea+j];
                                z=a[jj*stridea+i];
                                a[jj*stridea+j]=y*c+z*s;
                                a[jj*stridea+i]=z*c-y*s;
                        }
                }
                vec[l]=0.0;
                vec[k]=f;
                w[k]=x;
        }
        }
        if (its == NrIts) 
        return (2);
        else 
        return (0);
}














PseudoInverse::PseudoInverse(int _maxsize):
        maxsize(_maxsize)
{
    tmp = new double[maxsize];
    y2 = new double[maxsize];
        S   = new double[maxsize];
        V   = new double[maxsize*maxsize];
        U   = new double[maxsize*maxsize];
    ndx = new int[maxsize];
        strideV = maxsize;
        strideU = maxsize;
    prepared = false;
}

PseudoInverse::~PseudoInverse() {
    delete[] ndx;
        delete[] U;
        delete[] V;
        delete[] S;
    delete[] y2;
        delete[] tmp;
}

void PseudoInverse::inverse(
    const double* y,
    double* x,
    double eps) 
{
    assert( prepared );
   
    int i,j; 
    double sum;

        // tmp = (Si*U'*Ly*y), 
    for (i=0;i<n;++i) {
        sum = 0.0;
        for (j=0;j<m;++j) {
            sum+= U[strideU*j+i]*Ly[j]*y[j];
        }
        tmp[i] = sum*(fabs(S[i])<eps?0.0:1.0/S[i]);        
    }
    // x = Lx^-1*V*tmp + x
    for (i=0;i<n;++i) {
        sum = 0.0;
        for (j=0;j<n;++j) {
            sum+=V[strideV*i+j]*tmp[j];
        }
        x[i]=sum/Lx[i];
    }
}


void PseudoInverse::inverseWithNullSpace(
    const double* y,
    double* x,
    const double* xd,
    double eps) 
{
    // uses y2 with size m
        int i,j;
        double sum;
    assert( prepared );
        assert( (0 <=m)&&(m < maxsize));
        assert( (0 <=n)&&(n < maxsize));

    // y2=y-A*xd;
    for (i=0;i<m;++i) {
        sum = 0.0;
        for (j=0;j<n;++j) {
            sum+= A[i*strideA+j]*xd[j];
        }
        y2[i] = y[i]-sum;
    }
    inverse(y2,x,eps);

    // x = x + xd
    for (i=0;i<n;++i) {
        x[i]+= xd[i];
    }
}


class SVD_Ordering {
        const double* S;
    public:
        SVD_Ordering(const double *_S):S(_S) {}
        bool operator()(int i,int j) {
            return S[i]>S[j];
        }
};

int PseudoInverse::prepare(
    const double* _A,int _strideA,int _m,int _n,
    const double *_Ly,const double* _Lx,
    int nrOfIts) {
    // uses tmp with size m for svdcmp
    // uses tmp with size n for matrix*vector multiplication
        int i,j;
        int result;
    m=_m;
    n=_n;
    A=_A;
    strideA=_strideA;
    Lx=_Lx;
    Ly=_Ly;
        assert( (0 <=m)&&(m < maxsize));
        assert( (0 <=n)&&(n < maxsize));

        // copy A into U and if necessary, (m<n) fill with zeros    
    // Dim U =  max(m,n) x n
    // scale with the weight matrices 
    // U = Ly*A*lx^-1
        for (i=0;i<m;i++) {
                for (j=0;j<n;j++) {
                        U[strideU*i+j] = Ly[i]*A[strideA*i+j]/Lx[j];
                }
        }
        for (i=m;i<n;i++) {
                for (j=0;j<n;j++) {
                        U[strideU*i+j] = 0.0;
                }
        }
    int m2 = m < n ? n: m;
        result = svdcmp(U,strideU,m2,n,S,V,strideV,nrOfIts,tmp);
    prepared = (result==0);
    // PERFORM SORTING OF THE SVD TO OBTAIN AN INDEX :
    for (j=0;j<n;j++) ndx[j]=j;
    SVD_Ordering order(S);
    std::sort(ndx,ndx+n,order); 
        return result;
}


int PseudoInverse::smallestSV(double eps) {
    assert(prepared);
    for (int i=n-1;i>=0;i--) {
        if (S[ndx[i]] >= eps) {
            return ndx[i];
        }
    }
        return 0;
}
double PseudoInverse::derivsv(
        const double* Adot, 
        int strideAdot,
        int svnr)
{
   assert(prepared);
   int i,j;
   double sum;
   sum = 0.0;
   for (i=0;i<m;++i) {
       for (j=0;j<n;++j) {
            // sum += U[i,r]*Ly[i]*Adot[i,j]/Lx[j]*V[j,r]
            sum += U[strideU*i+svnr]*Ly[i]*Adot[strideAdot*i+j]/Lx[j]*V[strideV*j+svnr];
       }
   }
   return sum;
}

---

orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:19:40 2013