18 #include <Eigen/Dense>
25 template <
typename _Matrix_Type_>
27 Eigen::JacobiSVD<_Matrix_Type_> svd(pinvmat, Eigen::ComputeFullU | Eigen::ComputeFullV);
28 _Matrix_Type_ m_sigma = svd.singularValues();
29 double pinvtoler = 1.e-6;
30 _Matrix_Type_ m_sigma_inv = _Matrix_Type_::Zero(pinvmat.cols(), pinvmat.rows());
31 for (
long i = 0; i < m_sigma.rows(); ++i) {
32 if (m_sigma(i) > pinvtoler) {
33 m_sigma_inv(i, i) = 1.0 / m_sigma(i);
36 pinvmat = (svd.matrixV() * m_sigma_inv * svd.matrixU().transpose());
39 template<
typename Matrix3,
typename Po
int >
41 Matrix3 res = Matrix3::Zero(3,3);
51 static const double MARGIN(0.001);