10 #ifndef __SOT_MATRIX_SVD_H__
11 #define __SOT_MATRIX_SVD_H__
15 #include <dynamic-graph/linear-algebra.h>
22 typedef Eigen::JacobiSVD<Matrix>
SVD_t;
24 void pseudoInverse(Matrix &_inputMatrix, Matrix &_inverseMatrix,
25 const double threshold = 1e-6);
28 const double threshold = 1e-6);
30 void dampedInverse(
const Matrix &_inputMatrix, Matrix &_inverseMatrix,
31 Matrix &Uref, Vector &Sref, Matrix &Vref,
32 const double threshold = 1e-6);
34 void dampedInverse(
const Matrix &_inputMatrix, Matrix &_inverseMatrix,
35 const double threshold = 1e-6);