function_taking_ref.cpp
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1 #include <iostream>
2 #include <Eigen/SVD>
3 using namespace Eigen;
4 using namespace std;
5 
7 {
8  const VectorXf sing_vals = a.jacobiSvd().singularValues();
9  return sing_vals(sing_vals.size()-1) / sing_vals(0);
10 }
11 
12 int main()
13 {
14  Matrix4f m = Matrix4f::Random();
15  cout << "matrix m:" << endl << m << endl << endl;
16  cout << "inv_cond(m): " << inv_cond(m) << endl;
17  cout << "inv_cond(m(1:3,1:3)): " << inv_cond(m.topLeftCorner(3,3)) << endl;
18  cout << "inv_cond(m+I): " << inv_cond(m+Matrix4f::Identity()) << endl;
19 }
Matrix3f m
Namespace containing all symbols from the Eigen library.
Definition: jet.h:637
Definition: Half.h:150
Array33i a
int main()
float inv_cond(const Ref< const MatrixXf > &a)
A matrix or vector expression mapping an existing expression.
Definition: Ref.h:192


gtsam
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autogenerated on Sat May 8 2021 02:42:05