#include <nmrPInverseSolver.h>

Public Member Functions
	nmrPInverseSolver (void)

	nmrPInverseSolver (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n, bool storageOrder=VCT_COL_MAJOR)

void	Allocate (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n, bool storageOrder)

const vctDynamicMatrix < CISSTNETLIB_DOUBLE > &	GetS (void) const

const vctDynamicMatrix < CISSTNETLIB_DOUBLE > &	GetU (void) const

const vctDynamicMatrix < CISSTNETLIB_DOUBLE > &	GetV (void) const

const vctDynamicMatrix < CISSTNETLIB_DOUBLE > &	GetPInverse (void) const


	nmrPInverseSolver (const vctDynamicMatrix< CISSTNETLIB_DOUBLE > &A)


void	Allocate (const vctDynamicMatrix< CISSTNETLIB_DOUBLE > &A)


template<class _matrixOwnerType >
void	Solve (vctDynamicMatrixBase< _matrixOwnerType, CISSTNETLIB_DOUBLE > &A) throw (std::runtime_error)

Protected Attributes
CISSTNETLIB_INTEGER	M

CISSTNETLIB_INTEGER	N

CISSTNETLIB_INTEGER	MaxMN

CISSTNETLIB_INTEGER	MinMN

CISSTNETLIB_DOUBLE	EPS

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	S

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	U

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	V

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	PInverseA

bool	StorageOrder

nmrSVDSolver	svd

Detailed Description

Algorithm P-Inverse: Moore-Penrose pseudo-inverse Calculates the Moore-Penrose pseudo-inverse of the M by N matrix A, and stores the result in PInverseA. The singular values of A are returned in S. The left singular vectors are returned in U, and the right singular vectors are returned in V.

$A^{+} = V * \Sigma^{+} * U^{T}$

where $\Sigma^{+}$ is a $N \times M$ matrix which is zero except for its min(m,n) diagonal elements, U is a $M \times M$ orthogonal matrix, and V is a $N \times N$ orthogonal matrix. The diagonal elements of $\Sigma^{+}$ are the reciprocal of non-zero singular values of A; they are real and non-negative, and are returned in descending order. The first $\mbox{min}(m,n)$ columns of U and V are the left and right singular vectors of A.

The data members of this class are:

M: The number of rows of the input matrix A. M >= 0.
N: The number of columns of the input matrix A. N >= 0.
MaxMN: leading dimension of all 2-dim. arrays. MaxMN must be greater than or equal to max(N,M).
MinMN: min(N,M);
A: On entry, the $M \times N$ matrix A. On exit, the content of A is altered.

Note: The input matrix must be compact (see vctDynamicMatrix::IsCompact() or vctFixedSizeMatrix::IsCompact()).; This code relies on the ERC CISST cnetlib library. Since cnetlib is optional, make sure that CISST_HAS_CNETLIB has been turned ON during the configuration with CMake.

Deprecated:: This class has been replaced by nmrPInverse, nmrPInverseDynamicData and nmrPInverseFixedSizeData.

Constructor & Destructor Documentation

nmrPInverseSolver::nmrPInverseSolver ( void )

inline

Default constructor. This constructor doesn't allocate any memory. If you use this constructor, you will need to use one of the Allocate() methods before you can use the Solve method.

nmrPInverseSolver::nmrPInverseSolver	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n,
		bool	storageOrder = `VCT_COL_MAJOR`
	)

inline

Constructor with memory allocation. This constructor allocates the memory based on M and N. It relies on the method Allocate(). The next call to the Solve() method will check that the parameters match the dimension.

Parameters

m	Number of rows of A
n	Number of columns of A
storageOrder	Storage order used for the input matrix. This order will be used for the output as well.

nmrPInverseSolver::nmrPInverseSolver ( const vctDynamicMatrix< CISSTNETLIB_DOUBLE > & A )

inline

Constructor with memory allocation. This constructor allocates the memory based on the actual input of the Solve() method. It relies on the method Allocate(). The next call to the Solve() method will check that the parameters match the dimension and storage order.

Member Function Documentation

void nmrPInverseSolver::Allocate	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n,
		bool	storageOrder
	)

inline

This method allocates the memory based on M and N. The next call to the Solve() method will check that the parameters match the dimension.

Parameters

m	Number of rows of A
n	Number of columns of A
storageOrder	Storage order used for all the matrices

void nmrPInverseSolver::Allocate ( const vctDynamicMatrix< CISSTNETLIB_DOUBLE > & A )

inline

Allocate memory to solve this problem. This method provides a convenient way to extract the required sizes from the input containers. The next call to the Solve() method will check that the parameters match the dimension.

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrPInverseSolver::GetPInverse ( void ) const

inline

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrPInverseSolver::GetS ( void ) const

inline

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrPInverseSolver::GetU ( void ) const

inline

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrPInverseSolver::GetV ( void ) const

inline

template<class _matrixOwnerType >

void nmrPInverseSolver::Solve	(	vctDynamicMatrixBase< _matrixOwnerType, CISSTNETLIB_DOUBLE > &	A	)
throw	(	std::runtime_error
	)

inline

This computes the Moore-Penrose pseudo-inverse of a real $M \times N$ matrix A, optionally computing the left and/or right singular vectors. The SVD is written:

$A^{+} = V * \Sigma^{+} * U^{T}$

Note: This method requires a compact matrix with the same size and storage order used to Allocate. An std::runtime_error exception will be thrown if these conditions are not met.

Member Data Documentation

CISSTNETLIB_DOUBLE nmrPInverseSolver::EPS

protected

CISSTNETLIB_INTEGER nmrPInverseSolver::M

protected

CISSTNETLIB_INTEGER nmrPInverseSolver::MaxMN

protected

CISSTNETLIB_INTEGER nmrPInverseSolver::MinMN

protected

CISSTNETLIB_INTEGER nmrPInverseSolver::N

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrPInverseSolver::PInverseA

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrPInverseSolver::S

protected

bool nmrPInverseSolver::StorageOrder

protected

nmrSVDSolver nmrPInverseSolver::svd

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrPInverseSolver::U

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrPInverseSolver::V

protected

The documentation for this class was generated from the following file:

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstNumerical/nmrPInverseSolver.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation