svd_eigen_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 
00023 //Based on the svd of the KDL-0.2 library by Erwin Aertbelien
00024 #ifndef SVD_EIGEN_HH_HPP
00025 #define SVD_EIGEN_HH_HPP
00026 
00027 
00028 #include <Eigen/Core>
00029 #include <algorithm>
00030 
00031 using namespace Eigen;
00032 
00033 namespace KDL
00034 {
00035     inline double PYTHAG(double a,double b) {
00036         double at,bt,ct;
00037         at = fabs(a);
00038         bt = fabs(b);
00039         if (at > bt ) {
00040             ct=bt/at;
00041             return at*sqrt(1.0+ct*ct);
00042         } else {
00043             if (bt==0)
00044                 return 0.0;
00045             else {
00046                 ct=at/bt;
00047                 return bt*sqrt(1.0+ct*ct);
00048             }
00049         }
00050     }
00051 
00052 
00053     inline double SIGN(double a,double b) {
00054         return ((b) >= 0.0 ? fabs(a) : -fabs(a));
00055     }
00056 
00069     int svd_eigen_HH(const MatrixXd& A,MatrixXd& U,VectorXd& S,MatrixXd& V,VectorXd& tmp,int maxiter=150,double epsilon=1e-300);
00070 }
00071 #endif


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