Make dampedInverse compatible with full U and/or full V

jmirabel · jmirabel · commit be6851cce735 · 2018-04-18T13:23:04.000+02:00
diff --git a/include/sot/core/matrix-svd.hh b/include/sot/core/matrix-svd.hh
@@ -55,9 +55,10 @@ void dampedInverse( const JacobiSVD <dg::Matrix>& svd,
   ArrayWrapper<const SV_t> sigmas (svd.singularValues());
 
   SV_t sv_inv (sigmas / (sigmas.cwiseAbs2() + threshold * threshold));
+  const dg::Matrix::Index m = std::min(svd.rows(), svd.cols());
 
   _inverseMatrix.noalias() =
-    ( svd.matrixV() * sv_inv.asDiagonal() * svd.matrixU().transpose());
+    ( svd.matrixV().rightCols(m) * sv_inv.asDiagonal() * svd.matrixU().rightCols(m).transpose());
 }    
 
 void dampedInverse( const dg::Matrix& _inputMatrix,

Original file line number	Diff line number	Diff line change
`@@ -55,9 +55,10 @@ void dampedInverse( const JacobiSVD <dg::Matrix>& svd,`
`55`	`55`	`ArrayWrapper<const SV_t> sigmas (svd.singularValues());`
`56`	`56`
`57`	`57`	`SV_t sv_inv (sigmas / (sigmas.cwiseAbs2() + threshold * threshold));`
	`58`	`+ const dg::Matrix::Index m = std::min(svd.rows(), svd.cols());`
`58`	`59`
`59`	`60`	`_inverseMatrix.noalias() =`
`60`		`- ( svd.matrixV() * sv_inv.asDiagonal() * svd.matrixU().transpose());`
	`61`	`+ ( svd.matrixV().rightCols(m) * sv_inv.asDiagonal() * svd.matrixU().rightCols(m).transpose());`
`61`	`62`	`}`
`62`	`63`
`63`	`64`	`void dampedInverse( const dg::Matrix& _inputMatrix,`