Add implementation of pseudo-inverse (#102)

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 17:43:33 +08:00

* Fix compilation error

* Add implementation of pseudo-inverse

The implementation is based on this publication:
Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809
It is a fully templated implementation to guaranty type correctness.

* Add tests for pseudoinverse

* Apply suggestions from code review

Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com>

* Adapt fullRankCholesky tolerance to type

* Add pseudoinverse test with effectiveness matrix

* Fix coverage

* Fix rebase issue

* Fix SquareMatrix test, add null Matrix test

This commit is contained in:

Julien Lecoeur

2019-11-18 14:36:30 -08:00

committed by

Julian Kent

co-authored by

Mathieu Bresciani

parent cd185c995b

commit a172c3cdac

7 changed files with 338 additions and 1 deletions

									
										matrix/math.hpp
									
		+1
		
												View File
												
				@@ -18,3 +18,4 @@

				#include "AxisAngle.hpp"

				#include "LeastSquaresSolver.hpp"

				#include "Dual.hpp"

				#include "PseudoInverse.hpp"