65 lines
2.4 KiB
C++
65 lines
2.4 KiB
C++
// Copyright (C) 2008 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
|
|
|
|
|
|
//implementation of svd according to (Maciejewski and Klein,1989)
|
|
//and (Braun, Ulrey, Maciejewski and Siegel,2002)
|
|
|
|
/**
|
|
* \file svd_eigen_Macie.hpp
|
|
* provides Maciejewski's implementation for SVD.
|
|
*/
|
|
|
|
#ifndef SVD_EIGEN_MACIE
|
|
#define SVD_EIGEN_MACIE
|
|
|
|
#include <Eigen/Core>
|
|
|
|
|
|
namespace KDL
|
|
{
|
|
|
|
/**
|
|
* svd_eigen_Macie provides Maciejewski implementation for SVD.
|
|
*
|
|
* computes the singular value decomposition of a matrix A, such that
|
|
* A=U*Sm*V
|
|
*
|
|
* (Maciejewski and Klein,1989) and (Braun, Ulrey, Maciejewski and Siegel,2002)
|
|
*
|
|
* \param A [INPUT] is an \f$m \times n\f$-matrix, where \f$ m \geq n \f$.
|
|
* \param S [OUTPUT] is an \f$n\f$-vector, representing the diagonal elements of the diagonal matrix Sm.
|
|
* \param U [INPUT/OUTPUT] is an \f$m \times m\f$ orthonormal matrix.
|
|
* \param V [INPUT/OUTPUT] is an \f$n \times n\f$ orthonormal matrix.
|
|
* \param B [TEMPORARY] is an \f$m \times n\f$ matrix used for temporary storage.
|
|
* \param tempi [TEMPORARY] is an \f$m\f$ vector used for temporary storage.
|
|
* \param threshold [INPUT] Threshold to determine orthogonality.
|
|
* \param toggle [INPUT] toggle this boolean variable on each call of this routine.
|
|
* \return number of sweeps.
|
|
*/
|
|
int svd_eigen_Macie(const Eigen::MatrixXd& A,Eigen::MatrixXd& U,Eigen::VectorXd& S, Eigen::MatrixXd& V,
|
|
Eigen::MatrixXd& B, Eigen::VectorXd& tempi,
|
|
double threshold,bool toggle);
|
|
|
|
|
|
}
|
|
#endif
|