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kdl_install/include/kdl/utilities/svd_eigen_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
+
+
+//Based on the svd of the KDL-0.2 library by Erwin Aertbelien
+#ifndef SVD_EIGEN_HH_HPP
+#define SVD_EIGEN_HH_HPP
+
+
+#include <Eigen/Core>
+#include <algorithm>
+
+namespace KDL
+{
+    inline double PYTHAG(double a,double b) {
+        double at,bt,ct;
+        at = fabs(a);
+        bt = fabs(b);
+        if (at > bt ) {
+            ct=bt/at;
+            return at*sqrt(1.0+ct*ct);
+        } else {
+            if (bt==0)
+                return 0.0;
+            else {
+                ct=at/bt;
+                return bt*sqrt(1.0+ct*ct);
+            }
+        }
+    }
+
+
+    inline double SIGN(double a,double b) {
+        return ((b) >= 0.0 ? fabs(a) : -fabs(a));
+    }
+
+    /**
+     * svd calculation of eigen matrices
+     *
+     * @param A matrix<double>(mxn)
+     * @param U matrix<double>(mxn)
+     * @param S vector<double> n
+     * @param V matrix<double>(nxn)
+     * @param tmp vector<double> n
+     * @param maxiter defaults to 150
+     *
+     * @return -2 if maxiter exceeded, 0 otherwise
+     */
+    int svd_eigen_HH(const Eigen::MatrixXd& A,Eigen::MatrixXd& U,Eigen::VectorXd& S,Eigen::MatrixXd& V,Eigen::VectorXd& tmp,int maxiter=150,double epsilon=1e-300);
+}
+#endif