[−][src]Struct arcos_kdl::svd_eigen::SvdResult
Struct for storing SVD results.
This struct Implements the Special algorithm for SVD used in Weighted damped least square kinematics.
Fields
u_matrix: DMatrix<f64>
Matrix holding left singular vectors
s_vector: DVector<f64>
Vector holding singular values
v_matrix: DMatrix<f64>
Matrix holding right singular vectors
Methods
impl SvdResult
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pub fn new(num_joints: usize) -> Self
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Create a default empty SvdResult
pub fn copy_jacobian_to_u_matrix(&mut self, jacobian: &Jacobian)
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Copy a Jacobian to the matrix holding the left singular vectors
pub fn householder_reduction_to_bidiagonal(&mut self, epsilon: f64) -> f64
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Reduction to bidiagonal form using the Householder Rotations method
pub fn accumulate_right_hand_transformations(&mut self, epsilon: f64)
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Store the right singular vectors in its matrix (before convergence iterations)
pub fn accumulate_left_hand_transformations(&mut self, epsilon: f64)
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Store the left singular vectors in its matrix (before convergence iterations)
pub fn diagonalize_bidiagonal_form(
&mut self,
maxiter: usize,
anorm: f64,
epsilon: f64
)
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&mut self,
maxiter: usize,
anorm: f64,
epsilon: f64
)
Find a diagonal matrix with the final singular values using an iterative Algorithm. Any changes in singular values order or magnitud is also reflected in singular vectors
pub fn compute(&mut self, jacobian: &Jacobian, epsilon: f64, maxiter: usize)
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SVD computation with damped least squares using huseholder rotations
Trait Implementations
Auto Trait Implementations
Blanket Implementations
impl<T> From<T> for T
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,