Program Listing for File MathFunctions.h

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#ifndef MATH_FUNCTIONS_H
#define MATH_FUNCTIONS_H

#include "Common/Common.h"

// ------------------------------------------------------------------------------------
namespace PBD
{
    class MathFunctions
    {
    private:
        static void jacobiRotate(Matrix3r &A,
            Matrix3r &R,
            int p,
            int q);

    public:
        static Real infNorm(const Matrix3r &A);
        static Real oneNorm(const Matrix3r &A);

        static void eigenDecomposition(const Matrix3r &A,
            Matrix3r &eigenVecs,
            Vector3r &eigenVals);

        static void polarDecomposition(const Matrix3r &A,
            Matrix3r &R,
            Matrix3r &U,
            Matrix3r &D);

        static void polarDecompositionStable(const Matrix3r &M,
            const Real tolerance,
            Matrix3r &R);

        static void svdWithInversionHandling(const Matrix3r &A,
            Vector3r &sigma,
            Matrix3r &U,
            Matrix3r &VT);

        static Real cotTheta(const Vector3r &v, const Vector3r &w);

        static void crossProductMatrix(const Vector3r &v, Matrix3r &v_hat);

        static void extractRotation(const Matrix3r &A, Quaternionr &q, const unsigned int maxIter);
    };
}

#endif