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KDL/install/include/kdl/utilities/svd_HH.hpp

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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_SVD_HH_HPP
+#define KDL_SVD_HH_HPP
+
+#include "../jacobian.hpp"
+#include "../jntarray.hpp"
+#include <vector>
+
+namespace KDL
+{
+
+    class SVD_HH
+    {
+    public:
+        SVD_HH(const Jacobian& jac);
+        ~SVD_HH();
+
+        int calculate(const Jacobian& jac,std::vector<JntArray>& U,
+                      JntArray& w,std::vector<JntArray>& v,int maxiter);
+    private:
+        JntArray tmp;
+    };
+}
+#endif
+
+