svd_HH.hpp
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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 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14