SVD.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_MATH_SVD_H
#define YARP_MATH_SVD_H
 
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <yarp/math/api.h>
 
namespace yarp
{
    namespace math
    {
        void YARP_math_API SVD(const yarp::sig::Matrix &in,
            yarp::sig::Matrix &U,
            yarp::sig::Vector &S,
            yarp::sig::Matrix &V);
 
        void YARP_math_API SVDMod(const yarp::sig::Matrix &in,
            yarp::sig::Matrix &U,
            yarp::sig::Vector &S,
            yarp::sig::Matrix &V);
        void YARP_math_API SVDJacobi(const yarp::sig::Matrix &in,
            yarp::sig::Matrix &U,
            yarp::sig::Vector &S,
            yarp::sig::Matrix &V);
 
        yarp::sig::Matrix YARP_math_API pinv(const yarp::sig::Matrix &in, double tol=0.0);
 
        void YARP_math_API pinv(const yarp::sig::Matrix &in, yarp::sig::Matrix &out, double tol=0.0);
 
        yarp::sig::Matrix YARP_math_API pinv(const yarp::sig::Matrix &in, yarp::sig::Vector &sv, double tol=0.0);
 
        void YARP_math_API pinv(const yarp::sig::Matrix &in, yarp::sig::Matrix &out, yarp::sig::Vector &sv, double tol=0.0);
 
        yarp::sig::Matrix YARP_math_API pinvDamped(const yarp::sig::Matrix &in, yarp::sig::Vector &sv, double damp);
 
        yarp::sig::Matrix YARP_math_API pinvDamped(const yarp::sig::Matrix &in, double damp);
 
        void YARP_math_API pinvDamped(const yarp::sig::Matrix &in, yarp::sig::Matrix &out, double damp);
 
        void YARP_math_API pinvDamped(const yarp::sig::Matrix &in, yarp::sig::Matrix &out, yarp::sig::Vector &sv, double damp);
 
        yarp::sig::Matrix YARP_math_API projectionMatrix(const yarp::sig::Matrix &A, double tol=0.0);
 
        void YARP_math_API projectionMatrix(const yarp::sig::Matrix &A, yarp::sig::Matrix &out, double tol=0.0);
 
        yarp::sig::Matrix YARP_math_API nullspaceProjection(const yarp::sig::Matrix &A, double tol=0.0);
 
        void YARP_math_API nullspaceProjection(const yarp::sig::Matrix &A, yarp::sig::Matrix &out, double tol=0.0);
 
    }
}
 
#endif // YARP_MATH_SVD_H