YARP
Yet Another Robot Platform
 
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SVD.h
Go to the documentation of this file.
1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef YARP_MATH_SVD_H
8#define YARP_MATH_SVD_H
9
10#include <yarp/sig/Vector.h>
11#include <yarp/sig/Matrix.h>
12#include <yarp/math/api.h>
13
14namespace yarp::math {
34void YARP_math_API SVD(const yarp::sig::Matrix& in,
35 yarp::sig::Matrix& U,
36 yarp::sig::Vector& S,
37 yarp::sig::Matrix& V);
38
46void YARP_math_API SVDMod(const yarp::sig::Matrix& in,
47 yarp::sig::Matrix& U,
48 yarp::sig::Vector& S,
49 yarp::sig::Matrix& V);
58void YARP_math_API SVDJacobi(const yarp::sig::Matrix& in,
59 yarp::sig::Matrix& U,
60 yarp::sig::Vector& S,
61 yarp::sig::Matrix& V);
62
69yarp::sig::Matrix YARP_math_API pinv(const yarp::sig::Matrix& in, double tol = 0.0);
70
77void YARP_math_API pinv(const yarp::sig::Matrix& in, yarp::sig::Matrix& out, double tol = 0.0);
78
86yarp::sig::Matrix YARP_math_API pinv(const yarp::sig::Matrix& in, yarp::sig::Vector& sv, double tol = 0.0);
87
95void YARP_math_API pinv(const yarp::sig::Matrix& in, yarp::sig::Matrix& out, yarp::sig::Vector& sv, double tol = 0.0);
96
103yarp::sig::Matrix YARP_math_API pinvDamped(const yarp::sig::Matrix& in, yarp::sig::Vector& sv, double damp);
104
110yarp::sig::Matrix YARP_math_API pinvDamped(const yarp::sig::Matrix& in, double damp);
111
118void YARP_math_API pinvDamped(const yarp::sig::Matrix& in, yarp::sig::Matrix& out, double damp);
119
127void YARP_math_API pinvDamped(const yarp::sig::Matrix& in, yarp::sig::Matrix& out, yarp::sig::Vector& sv, double damp);
128
136yarp::sig::Matrix YARP_math_API projectionMatrix(const yarp::sig::Matrix& A, double tol = 0.0);
137
145void YARP_math_API projectionMatrix(const yarp::sig::Matrix& A, yarp::sig::Matrix& out, double tol = 0.0);
146
155yarp::sig::Matrix YARP_math_API nullspaceProjection(const yarp::sig::Matrix& A, double tol = 0.0);
156
165void YARP_math_API nullspaceProjection(const yarp::sig::Matrix& A, yarp::sig::Matrix& out, double tol = 0.0);
166
167} // namespace yarp::math
168
169#endif // YARP_MATH_SVD_H
Matrix.h
contains the definition of a Matrix type
Vector.h
contains the definition of a Vector type
yarp::sig::Matrix
A class for a Matrix.
Definition Matrix.h:39
yarp::math::projectionMatrix
yarp::sig::Matrix projectionMatrix(const yarp::sig::Matrix &A, double tol=0.0)
Compute the projection matrix of A, that is defined as A times its pseudoinverse: A*pinv(A) (defined ...
Definition SVD.cpp:162
yarp::math::SVD
void SVD(const yarp::sig::Matrix &in, yarp::sig::Matrix &U, yarp::sig::Vector &S, yarp::sig::Matrix &V)
Factorize the M-by-N matrix 'in' into the singular value decomposition in = U S V^T (defined in SVD....
Definition SVD.cpp:22
yarp::math::SVDMod
void SVDMod(const yarp::sig::Matrix &in, yarp::sig::Matrix &U, yarp::sig::Vector &S, yarp::sig::Matrix &V)
Perform SVD decomposition on a MxN matrix (for M >= N) (defined in SVD.h).
Definition SVD.cpp:27
yarp::math::pinv
yarp::sig::Matrix pinv(const yarp::sig::Matrix &in, double tol=0.0)
Perform the moore-penrose pseudo-inverse of a matrix (defined in SVD.h).
Definition SVD.cpp:46
yarp::math::pinvDamped
yarp::sig::Matrix pinvDamped(const yarp::sig::Matrix &in, yarp::sig::Vector &sv, double damp)
Perform the damped pseudo-inverse of a matrix (defined in SVD.h).
Definition SVD.cpp:120
yarp::math::nullspaceProjection
yarp::sig::Matrix nullspaceProjection(const yarp::sig::Matrix &A, double tol=0.0)
Compute the nullspace projection matrix of A, that is defined as the difference between the identity ...
Definition SVD.cpp:187
yarp::math::SVDJacobi
void SVDJacobi(const yarp::sig::Matrix &in, yarp::sig::Matrix &U, yarp::sig::Vector &S, yarp::sig::Matrix &V)
Perform SVD decomposition on a matrix using the Jacobi method (defined in SVD.h).
Definition SVD.cpp:32
api.h
YARP_math_API
#define YARP_math_API
Definition api.h:17