eig3.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2003 00004 * Andrew Howard 00005 * Brian Gerkey 00006 * 00007 * This program is free software; you can redistribute it and/or modify 00008 * it under the terms of the GNU General Public License as published by 00009 * the Free Software Foundation; either version 2 of the License, or 00010 * (at your option) any later version. 00011 * 00012 * This program is distributed in the hope that it will be useful, 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 * GNU General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU General Public License 00018 * along with this program; if not, write to the Free Software 00019 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00020 * 00021 */ 00022 00023 00024 /* Eigen-decomposition for symmetric 3x3 real matrices. 00025 Public domain, copied from the public domain Java library JAMA. */ 00026 00027 #ifndef _eig_h 00028 00029 /* Symmetric matrix A => eigenvectors in columns of V, corresponding 00030 eigenvalues in d. */ 00031 void eigen_decomposition(double A[3][3], double V[3][3], double d[3]); 00032 00033 #endif