svd_HH.hpp
Go to the documentation of this file.00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDL_SVD_HH_HPP 00023 #define KDL_SVD_HH_HPP 00024 00025 #include "../jacobian.hpp" 00026 #include "../jntarray.hpp" 00027 #include <vector> 00028 00029 namespace KDL 00030 { 00031 00032 class SVD_HH 00033 { 00034 public: 00035 SVD_HH(const Jacobian& jac); 00036 ~SVD_HH(); 00037 00038 int calculate(const Jacobian& jac,std::vector<JntArray>& U, 00039 JntArray& w,std::vector<JntArray>& v,int maxiter); 00040 private: 00041 JntArray tmp; 00042 }; 00043 } 00044 #endif 00045 00046