/**
 * \file Math.h
 * \brief Linear algebra and other maths definitions. Based on Eigen 3 or more
 * \author Steve T.
 * \version 0.1
 * \date 06/17/2013
 *
 * This file contains math definitions used
 * used throughout the library.
 * Preprocessors definition are used to use eitheir float
 * or double values, and 3 dimensional vectors for
 * the Point structure.
 */

#ifndef _SPLINEMATH
#define _SPLINEMATH

#include <Eigen/Dense>
#include <Eigen/SVD>

#include <vector>
#include <utility>
namespace curves {
// REF: boulic et al An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
template <typename _Matrix_Type_>
void PseudoInverse(_Matrix_Type_& pinvmat) {
  Eigen::JacobiSVD<_Matrix_Type_> svd(pinvmat, Eigen::ComputeFullU | Eigen::ComputeFullV);
  _Matrix_Type_ m_sigma = svd.singularValues();
  double pinvtoler = 1.e-6;  // choose your tolerance widely!
  _Matrix_Type_ m_sigma_inv = _Matrix_Type_::Zero(pinvmat.cols(), pinvmat.rows());
  for (long i = 0; i < m_sigma.rows(); ++i) {
    if (m_sigma(i) > pinvtoler) {
      m_sigma_inv(i, i) = 1.0 / m_sigma(i);
    }
  }
  pinvmat = (svd.matrixV() * m_sigma_inv * svd.matrixU().transpose());
}
}  // namespace curves
#endif  //_SPLINEMATH