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