orocos_kdl
src
utilities
svd_eigen_HH.hpp
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//Based on the svd of the KDL-0.2 library by Erwin Aertbelien
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#ifndef SVD_EIGEN_HH_HPP
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#define SVD_EIGEN_HH_HPP
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#include <Eigen/Core>
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#include <
algorithm
>
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namespace
KDL
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{
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inline
double
PYTHAG
(
double
a,
double
b) {
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double
at,bt,ct;
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at = fabs(a);
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bt = fabs(b);
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if
(at > bt ) {
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ct=bt/at;
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return
at*
sqrt
(1.0+ct*ct);
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}
else
{
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if
(bt==0)
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return
0.0;
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else
{
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ct=at/bt;
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return
bt*
sqrt
(1.0+ct*ct);
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}
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}
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}
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inline
double
SIGN
(
double
a,
double
b) {
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return
((b) >= 0.0 ? fabs(a) : -fabs(a));
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}
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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);
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}
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#endif
KDL::sqrt
INLINE Rall1d< T, V, S > sqrt(const Rall1d< T, V, S > &arg)
Definition:
rall1d.h:391
KDL::svd_eigen_HH
int svd_eigen_HH(const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::VectorXd &tmp, int maxiter, double epsilon)
Definition:
svd_eigen_HH.cpp:26
KDL::PYTHAG
double PYTHAG(double a, double b)
Definition:
svd_eigen_HH.hpp:33
algorithm
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::epsilon
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
Definition:
utility.cxx:21
KDL::SIGN
double SIGN(double a, double b)
Definition:
svd_eigen_HH.hpp:51
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