svd22.h

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/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
All rights reserved.
This software was developed in the APRIL Robotics Lab under the
direction of Edwin Olson, ebolson@umich.edu. This software may be
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#pragma once

void svd22(const double A[4], double U[4], double S[2], double V[4]);

// for the matrix [a b; b d]
void svd_sym_singular_values(double A00, double A01, double A11,
                             double *Lmin, double *Lmax);