Add JacobiSVD as member of MemoryTaskSOT

Author: jmirabel

include/sot/core/memory-task-sot.hh

@@ -48,6 +48,9 @@ namespace dynamicgraph {
 
       dg::Matrix U,V;
       dg::Vector S;
+
+      typedef Eigen::JacobiSVD<dg::Matrix> SVD_t;
+      SVD_t svd;
 
     public:
       /* mJ is the number of actuated joints, nJ the number of feature in the task,

src/sot/memory-task-sot.cpp

@@ -67,6 +67,8 @@ initMemory( const unsigned int nJ,const unsigned int mJ,const unsigned int ffsiz
    V.resize( mJ,mJ );
    S.resize( std::min( nJ,mJ ) );
 
+   svd = SVD_t (nJ, mJ, Eigen::ComputeThinU | Eigen::ComputeThinV);
+
    JK.fill(0);
    if (atConstruction) {
      Jt.setZero();