matrix-svd.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_MATRIX_SVD_H__
#define __SOT_MATRIX_SVD_H__
 
/* --- Matrix --- */
#include <dynamic-graph/linear-algebra.h>
 
#include <Eigen/SVD>
 
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
namespace dynamicgraph {
 
typedef Eigen::JacobiSVD<Matrix> SVD_t;
 
void pseudoInverse(Matrix &_inputMatrix, Matrix &_inverseMatrix,
                   const double threshold = 1e-6);
 
void dampedInverse(const SVD_t &svd, Matrix &_inverseMatrix,
                   const double threshold = 1e-6);
 
void dampedInverse(const Matrix &_inputMatrix, Matrix &_inverseMatrix,
                   Matrix &Uref, Vector &Sref, Matrix &Vref,
                   const double threshold = 1e-6);
 
void dampedInverse(const Matrix &_inputMatrix, Matrix &_inverseMatrix,
                   const double threshold = 1e-6);
 
}  // namespace dynamicgraph
 
#endif /* #ifndef __SOT_MATRIX_SVD_H__ */