#include <nmrSVDSolver.h>

Public Member Functions

nmrSVDSolver (void)

nmrSVDSolver (CISSTNETLIB_INTEGER m, CISSTNETLIB_INTEGER n, bool storageOrder)

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 > & GetVt (void) const

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.

Parameters

A	Input matrix

template<class _matrixOwnerType >

nmrSVDSolver (const vctDynamicMatrixBase< _matrixOwnerType, CISSTNETLIB_DOUBLE > &A)

template<vct::size_type _rows, vct::size_type _cols, bool _storageOrder>

nmrSVDSolver (const vctFixedSizeMatrix< CISSTNETLIB_DOUBLE, _rows, _cols, _storageOrder > &A)

Allocate memory to solve this problem.

This methods provide 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.

template<class _matrixOwnerType >

void Allocate (const vctDynamicMatrixBase< _matrixOwnerType, CISSTNETLIB_DOUBLE > &A)

template<vct::size_type _rows, vct::size_type _cols, bool _storageOrder>

void Allocate (const vctFixedSizeMatrix< CISSTNETLIB_DOUBLE, _rows, _cols, _storageOrder > &A)

template<class _matrixOwnerType >

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

template<vct::size_type _rows, vct::size_type _cols, bool _storageOrder>

void Solve (vctFixedSizeMatrix< CISSTNETLIB_DOUBLE, _rows, _cols, _storageOrder > &A)

Protected Attributes
CISSTNETLIB_INTEGER	M

CISSTNETLIB_INTEGER	N

CISSTNETLIB_INTEGER	Lda

CISSTNETLIB_INTEGER	Ldu

CISSTNETLIB_INTEGER	Ldvt

CISSTNETLIB_INTEGER	Lwork

char	Jobu

char	Jobvt

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	S

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	U

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	Vt

vctDynamicMatrix < CISSTNETLIB_DOUBLE >	Work

CISSTNETLIB_INTEGER	Info

bool	StorageOrder

Detailed Description

Algorithm SVD: Singular Value Decomposition

This computes the singular value decomposition (SVD) of a real $M \times N$ matrix A, optionally computing the left and/or right singular vectors. The SVD is written:

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

where $\Sigma$ is a $M \times N$ 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 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.

Note that the routine returns $V^{T}$ , not $ V $ .

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.
Lda: The leading dimension of the array A. $Lda \geq \mbox{max}(1,M)$ .
Ldu: The leading dimension of the array U. $Ldu \geq M$ .
Ldvt: The leading dimension of the array VT. $Ldvt \geq N$ .
Lwork: The dimension of the matrix Work. $Lwork \geq \mbox{max}(3 * \mbox{min}(M,N) + \mbox{max}(M,N), 5 * \mbox{min}(M,N))$ .
Work: Working matrix of dimenstion $Lwork \times 1$ .
S: The singular values of A, sorted so that $S(i) \geq S(i+1)$ .
U: Contains the $M \times M$ orthogonal matrix U.
Vt: Contains the $N \times N$ orthogonal matrix $V^{T}$ .
A: On entry, the $M \times N$ matrix A. On exit, the content of A is altered.

Note: The input matrices of this class can use either column major or row major storage order. To select the storage order, use either VCT_COL_MAJOR or VCT_ROW_MAJOR (default) whenever you declare a matrix.; 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 nmrSVD, nmrSVDDynamicData and nmrSVDFixedSizeData.

Constructor & Destructor Documentation

nmrSVDSolver::nmrSVDSolver ( 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.

nmrSVDSolver::nmrSVDSolver	(	CISSTNETLIB_INTEGER	m,
		CISSTNETLIB_INTEGER	n,
		bool	storageOrder
	)

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.

template<class _matrixOwnerType >

nmrSVDSolver::nmrSVDSolver ( const vctDynamicMatrixBase< _matrixOwnerType, CISSTNETLIB_DOUBLE > & A )

inline

template<vct::size_type _rows, vct::size_type _cols, bool _storageOrder>

nmrSVDSolver::nmrSVDSolver ( const vctFixedSizeMatrix< CISSTNETLIB_DOUBLE, _rows, _cols, _storageOrder > & A )

inline

Member Function Documentation

void nmrSVDSolver::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

template<class _matrixOwnerType >

void nmrSVDSolver::Allocate ( const vctDynamicMatrixBase< _matrixOwnerType, CISSTNETLIB_DOUBLE > & A )

inline

template<vct::size_type _rows, vct::size_type _cols, bool _storageOrder>

void nmrSVDSolver::Allocate ( const vctFixedSizeMatrix< CISSTNETLIB_DOUBLE, _rows, _cols, _storageOrder > & A )

inline

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

inline

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

inline

const vctDynamicMatrix<CISSTNETLIB_DOUBLE>& nmrSVDSolver::GetVt ( void ) const

inline

template<class _matrixOwnerType >

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

inline

This computes the singular value decomposition (SVD) of a real $M \times N$ matrix A, optionally computing the left and/or right singular vectors. The SVD is written:

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

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.

template<vct::size_type _rows, vct::size_type _cols, bool _storageOrder>

void nmrSVDSolver::Solve ( vctFixedSizeMatrix< CISSTNETLIB_DOUBLE, _rows, _cols, _storageOrder > & A )

inline

Member Data Documentation

CISSTNETLIB_INTEGER nmrSVDSolver::Info

protected

char nmrSVDSolver::Jobu

protected

char nmrSVDSolver::Jobvt

protected

CISSTNETLIB_INTEGER nmrSVDSolver::Lda

protected

CISSTNETLIB_INTEGER nmrSVDSolver::Ldu

protected

CISSTNETLIB_INTEGER nmrSVDSolver::Ldvt

protected

CISSTNETLIB_INTEGER nmrSVDSolver::Lwork

protected

CISSTNETLIB_INTEGER nmrSVDSolver::M

protected

CISSTNETLIB_INTEGER nmrSVDSolver::N

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrSVDSolver::S

protected

bool nmrSVDSolver::StorageOrder

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrSVDSolver::U

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrSVDSolver::Vt

protected

vctDynamicMatrix<CISSTNETLIB_DOUBLE> nmrSVDSolver::Work

protected

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation