KDL 1.5.1
svd_eigen_Macie.hpp
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1// Copyright (C) 2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22
23//implementation of svd according to (Maciejewski and Klein,1989)
24//and (Braun, Ulrey, Maciejewski and Siegel,2002)
25
31#ifndef SVD_EIGEN_MACIE
32#define SVD_EIGEN_MACIE
33
34#include <Eigen/Core>
35
36
37namespace KDL
38{
39
58 int svd_eigen_Macie(const Eigen::MatrixXd& A,Eigen::MatrixXd& U,Eigen::VectorXd& S, Eigen::MatrixXd& V,
59 Eigen::MatrixXd& B, Eigen::VectorXd& tempi,
60 double threshold,bool toggle);
61
62
63}
64#endif
Definition: articulatedbodyinertia.cpp:26
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)
svd_eigen_Macie provides Maciejewski implementation for SVD.