SVD.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_DECOMPOSITION_HPP
#define SVD_DECOMPOSITION_HPP
 
#include <base/Eigen.hpp>
 
namespace wbc{
 
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));
}
 
int svd_eigen_decomposition(const base::MatrixXd& A,
                            base::MatrixXd& U,
                            base::VectorXd& S,
                            base::MatrixXd& V,
                            base::VectorXd& tmp,
                            int maxiter=150,
                            double epsilon=1e-300);
 
}
 
#endif // SVD_DECOMPOSITION_HPP