svd_eigen_Macie.hpp

Go to the documentation of this file.

// 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)
 
#ifndef SVD_EIGEN_MACIE
#define SVD_EIGEN_MACIE
 
#include <Eigen/Core>
 
 
namespace KDL
{
 
    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