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- #ifndef IGL_POLAR_SVD
- #define IGL_POLAR_SVD
- #include "igl_inline.h"
- #include <Eigen/Core>
- namespace igl
- {
- // Computes the polar decomposition (R,T) of a matrix A using SVD singular value decomposition
- // Inputs:
- // A 3 by 3 matrix to be decomposed
- // Outputs:
- // R 3 by 3 rotation matrix part of decomposition
- // T 3 by 3 stretch matrix part of decomposition
- // U 3 by 3 left-singular vectors
- // S 3 by 1 singular values
- // V 3 by 3 right-singular vectors
- //
- // Example:
- // polar_svd(A,R,T,U,S,V);
- // // Check if R is a reflection
- // if(R.determinant() < ))
- // {
- // // flip last column of U and rebuild to get rotation
- // U.col(U.cols()-1) *= -1.0;
- // R = U * V.transpose();
- // }
- //
- template <
- typename DerivedA,
- typename DerivedR,
- typename DerivedT,
- typename DerivedU,
- typename DerivedS,
- typename DerivedV>
- IGL_INLINE void polar_svd(
- const Eigen::PlainObjectBase<DerivedA> & A,
- Eigen::PlainObjectBase<DerivedR> & R,
- Eigen::PlainObjectBase<DerivedT> & T,
- Eigen::PlainObjectBase<DerivedU> & U,
- Eigen::PlainObjectBase<DerivedS> & S,
- Eigen::PlainObjectBase<DerivedV> & V);
- template <
- typename DerivedA,
- typename DerivedR,
- typename DerivedT>
- IGL_INLINE void polar_svd(
- const Eigen::PlainObjectBase<DerivedA> & A,
- Eigen::PlainObjectBase<DerivedR> & R,
- Eigen::PlainObjectBase<DerivedT> & T);
- }
- #ifdef IGL_HEADER_ONLY
- # include "polar_svd.cpp"
- #endif
- #endif
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