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Merge pull request #51 from jmirabel/master
Fix Timer class
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) 2018, Joseph Mirabel | ||
| // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| // | ||
| // This file is part of sot-core. | ||
| // sot-core is free software: you can redistribute it | ||
| // and/or modify it under the terms of the GNU Lesser General Public | ||
| // License as published by the Free Software Foundation, either version | ||
| // 3 of the License, or (at your option) any later version. | ||
| // | ||
| // sot-core is distributed in the hope that it will be | ||
| // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
| // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| // General Lesser Public License for more details. You should have | ||
| // received a copy of the GNU Lesser General Public License along with | ||
| // sot-core. If not, see <http://www.gnu.org/licenses/>. | ||
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| #include <sot/core/debug.hh> | ||
| #include <sot/core/matrix-svd.hh> | ||
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| namespace Eigen { | ||
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| void pseudoInverse( dg::Matrix& _inputMatrix, | ||
| dg::Matrix& _inverseMatrix, | ||
| const double threshold) { | ||
| JacobiSVD<dg::Matrix> svd(_inputMatrix, ComputeThinU | ComputeThinV); | ||
| JacobiSVD<dg::Matrix>::SingularValuesType m_singularValues=svd.singularValues(); | ||
| JacobiSVD<dg::Matrix>::SingularValuesType singularValues_inv; | ||
| singularValues_inv.resizeLike(m_singularValues); | ||
| for ( long i=0; i<m_singularValues.size(); ++i) { | ||
| if ( m_singularValues(i) > threshold ) | ||
| singularValues_inv(i)=1.0/m_singularValues(i); | ||
| else singularValues_inv(i)=0; | ||
| } | ||
| _inverseMatrix = (svd.matrixV()*singularValues_inv.asDiagonal()*svd.matrixU().transpose()); | ||
| } | ||
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| void dampedInverse( const JacobiSVD <dg::Matrix>& svd, | ||
| dg::Matrix& _inverseMatrix, | ||
| const double threshold) { | ||
| typedef JacobiSVD<dg::Matrix>::SingularValuesType SV_t; | ||
| ArrayWrapper<const SV_t> sigmas (svd.singularValues()); | ||
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| SV_t sv_inv (sigmas / (sigmas.cwiseAbs2() + threshold * threshold)); | ||
| const dg::Matrix::Index m = sv_inv.size(); | ||
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| _inverseMatrix.noalias() = | ||
| ( svd.matrixV().leftCols(m) * sv_inv.asDiagonal() * svd.matrixU().leftCols(m).transpose()); | ||
| } | ||
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| void dampedInverse( const dg::Matrix& _inputMatrix, | ||
| dg::Matrix& _inverseMatrix, | ||
| dg::Matrix& Uref, | ||
| dg::Vector& Sref, | ||
| dg::Matrix& Vref, | ||
| const double threshold) { | ||
| sotDEBUGIN(15); | ||
| sotDEBUG(5) << "Input Matrix: "<<_inputMatrix<<std::endl; | ||
| JacobiSVD<dg::Matrix> svd(_inputMatrix, ComputeThinU | ComputeThinV); | ||
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| dampedInverse (svd, _inverseMatrix, threshold); | ||
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| Uref = svd.matrixU(); | ||
| Vref = svd.matrixV(); | ||
| Sref = svd.singularValues(); | ||
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| sotDEBUGOUT(15); | ||
| } | ||
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| void dampedInverse( const dg::Matrix& _inputMatrix, | ||
| dg::Matrix& _inverseMatrix, | ||
| const double threshold) { | ||
| sotDEBUGIN(15); | ||
| sotDEBUG(5) << "Input Matrix: "<<_inputMatrix<<std::endl; | ||
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| JacobiSVD<dg::Matrix> svd(_inputMatrix, ComputeThinU | ComputeFullV); | ||
| dampedInverse (svd, _inverseMatrix, threshold); | ||
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| sotDEBUGOUT(15); | ||
| } | ||
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| } |
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