poly-estimator.cpp File Reference

#include <sot/torque_control/utils/poly-estimator.hh>

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Functions
void	pinv (const Eigen::MatrixXd &matrix_in, Eigen::MatrixXd &pseudo_inv, const double &pinvtoler)

Function Documentation

pinv()

void pinv	(	const Eigen::MatrixXd &	matrix_in,
		Eigen::MatrixXd &	pseudo_inv,
		const double &	pinvtoler = 1.0e-6
	)

Compute the pseudo-inverse using Eigen

Parameters

[in]	matrix_in	is the input matrix.
[out]	pseudo_inv	is the pseudo-inverse of the input matrix.
[in]	pinvtoler	is the tolerance in the SVD decomposition

Definition at line 9 of file poly-estimator.cpp.