Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * eig3.h: Eigen decomposition code for symmetric 3x3 matrices 00004 * 00005 * Created: Thu May 24 18:38:24 2012 00006 * Copyright 2000 Brian Gerkey 00007 * 2000 Kasper Stoy 00008 * 2012 Tim Niemueller [www.niemueller.de] 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL file in the doc directory. 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