linalg_utils.h File Reference

#include <cmath>
#include <kindr/Core>
#include <Eigen/Core>
#include <Eigen/SVD>

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Namespaces
	math_utils

Functions
template<typename Matrix_TypeA , typename Matrix_TypeB >
static bool	math_utils::dampedPseudoInverse (const Matrix_TypeA &_J, Matrix_TypeB &_dPinvJ, const double _lambda=0, const double _epsilon=std::numeric_limits< typename Matrix_TypeA::Scalar >::epsilon())
	The dampedPseudoInverse function calculates the damped pseudo-inverse of a matrix using SVD. More...
template<typename Matrix_TypeA , typename Matrix_TypeB >
static bool	math_utils::nullSpaceProjector (const Matrix_TypeA &_A, Matrix_TypeB &_N, const double _alpha=1)
	The nullSpaceProjector function calculates the null-space projector of a given matrix. The null-space projector is calculated using the Moore-Penrose pseudo-inverse (N = I - alpha * pinvA * A). More...
template<typename Matrix_TypeA >
Eigen::Matrix< typename Matrix_TypeA::Scalar, Eigen::Dynamic, Eigen::Dynamic >	math_utils::SVDNullSpaceProjector (const Matrix_TypeA &_A)
	The SVDNullSpaceProjector function calculates the null-space projector of a given matrix. The null-space projector is calculated using the singular-value decomposition (SVD). The null-space. More...
template<typename Vector_TypeA , typename Vector_TypeB >
Eigen::Matrix< typename Vector_TypeA::Scalar, Eigen::Dynamic, 1 >	math_utils::boxMinus (const Vector_TypeA &_a, const Vector_TypeB &_b)
	The boxMinus function calculates the box-minus operation between two vectors of equal size. More...