jrlMathTools library documentation
Classes | |
| class | Cangle |
| This class implements simple computations on angles. More... | |
| struct | Matrix3x3 |
| Template to handle a 3x3 matrix. More... | |
| struct | Matrix4x4 |
| Template to handle a 4x4 matrix. More... | |
| struct | Vector3D |
| Template to handle 3 dimensional vector. More... | |
| struct | Vector4D |
| Template to handle 3 dimensional vector. More... | |
Functions | |
| void | _resize (matrixNxP &mat1, const matrixNxP &mat2) |
| void | _resizeInv (matrixNxP &res, const matrixNxP &mat2) |
| matrixNxP & | pseudoInverse (const matrixNxP &matrix, matrixNxP &outInverse, const double threshold=1e-6, matrixNxP *Uref=NULL, vectorN *Sref=NULL, matrixNxP *Vref=NULL) |
| Compute the pseudo-inverse of the matrix. | |
| matrixNxP | dampedInverse (const matrixNxP &inMatrix, matrixNxP &invMatrix, const double threshold=1e-6, matrixNxP *Uref=NULL, vectorN *Sref=NULL, matrixNxP *Vref=NULL) |
This is a very fast and simple implementation of a 3D matrix class of double.
Copyright 2008, 2009, 2010, Olivier Stasse, Florent Lamiraux, Francois Keith, Eiichi Yoshida, CNRS/AIST
This file is part of jrlMathTools. jrlMathTools 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 3 of the License, or (at your option) any later version.
jrlMathTools 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 jrlMathTools. If not, see <http://www.gnu.org/licenses/>.
This is a very fast and simple implementation of a 3D vector class of double.
Copyright 2008, 2009, 2010, Olivier Stasse, Florent Lamiraux, Francois Keith, Eiichi Yoshida, CNRS/AIST
This file is part of jrlMathTools. jrlMathTools 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 3 of the License, or (at your option) any later version.
jrlMathTools 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 jrlMathTools. If not, see <http://www.gnu.org/licenses/>.
This is a very fast and simple implementation of a 4D vector class of double.
Copyright 2008, 2009, 2010, Olivier Stasse, Florent Lamiraux, Francois Keith, CNRS/AIST
This file is part of jrlMathTools. jrlMathTools 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 3 of the License, or (at your option) any later version.
jrlMathTools 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 jrlMathTools. If not, see <http://www.gnu.org/licenses/>.
| matrixNxP jrlMathTools::dampedInverse | ( | const matrixNxP & | inMatrix, | |
| matrixNxP & | invMatrix, | |||
| const double | threshold = 1e-6, |
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| matrixNxP * | Uref = NULL, |
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| vectorN * | Sref = NULL, |
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| matrixNxP * | Vref = NULL | |||
| ) |
| matrixNxP& jrlMathTools::pseudoInverse | ( | const matrixNxP & | matrix, | |
| matrixNxP & | outInverse, | |||
| const double | threshold = 1e-6, |
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| matrixNxP * | Uref = NULL, |
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| vectorN * | Sref = NULL, |
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| matrixNxP * | Vref = NULL | |||
| ) |
Compute the pseudo-inverse of the matrix.
By default, the function uses the dgesvd_ fortran routine. It should be provided by the host software.