/usr/include/kdl/utilities/svd_HH.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library 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 2.1 of the License, or (at your option) any later version.
// This library 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
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDL_SVD_HH_HPP
#define KDL_SVD_HH_HPP
#include "../jacobian.hpp"
#include "../jntarray.hpp"
#include <vector>
namespace KDL
{
class SVD_HH
{
public:
SVD_HH(const Jacobian& jac);
~SVD_HH();
int calculate(const Jacobian& jac,std::vector<JntArray>& U,
JntArray& w,std::vector<JntArray>& v,int maxiter);
private:
JntArray tmp;
};
}
#endif
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