sot-core  4.11.2
Hierarchical task solver plug-in for dynamic-graph.
matrix-svd.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_MATRIX_SVD_H__
11 #define __SOT_MATRIX_SVD_H__
12 
13 /* --- Matrix --- */
14 #include <Eigen/SVD>
15 #include <dynamic-graph/linear-algebra.h>
16 
17 /* --------------------------------------------------------------------- */
18 /* --------------------------------------------------------------------- */
19 /* --------------------------------------------------------------------- */
20 namespace dynamicgraph {
21 
22 typedef Eigen::JacobiSVD<Matrix> SVD_t;
23 
24 void pseudoInverse(Matrix &_inputMatrix, Matrix &_inverseMatrix,
25  const double threshold = 1e-6);
26 
27 void dampedInverse(const SVD_t &svd, Matrix &_inverseMatrix,
28  const double threshold = 1e-6);
29 
30 void dampedInverse(const Matrix &_inputMatrix, Matrix &_inverseMatrix,
31  Matrix &Uref, Vector &Sref, Matrix &Vref,
32  const double threshold = 1e-6);
33 
34 void dampedInverse(const Matrix &_inputMatrix, Matrix &_inverseMatrix,
35  const double threshold = 1e-6);
36 
37 } // namespace dynamicgraph
38 
39 #endif /* #ifndef __SOT_MATRIX_SVD_H__ */
Eigen::JacobiSVD< Matrix > SVD_t
Definition: matrix-svd.hh:22
void pseudoInverse(Matrix &_inputMatrix, Matrix &_inverseMatrix, const double threshold=1e-6)
void dampedInverse(const SVD_t &svd, Matrix &_inverseMatrix, const double threshold=1e-6)
Definition: abstract-sot-external-interface.hh:17