Template Class SVDPseudoInverse

• Defined in File cartesian_utils.h

Class Documentation

template<class _Matrix_Type_>
class SVDPseudoInverse

SVDPseudoInverse provide a simple template Eigen-based (implemented using SVD) class to compute pseudo inverse NOTE: SLOW, works with any matrix, NON RT-safe.

Public Functions

inline SVDPseudoInverse(const _Matrix_Type_ &a, const double epsilon = std::numeric_limits<double>::epsilon())

inline void compute(const _Matrix_Type_ &a, _Matrix_Type_ &ainv, const double epsilon = std::numeric_limits<double>::epsilon())

inline void setEpsilon(const double epsilon)