eig3.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2003
4  * Andrew Howard
5  * Brian Gerkey
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 
24 /* Eigen-decomposition for symmetric 3x3 real matrices.
25  Public domain, copied from the public domain Java library JAMA. */
26 
27 #ifndef _eig_h
28 
29 /* Symmetric matrix A => eigenvectors in columns of V, corresponding
30  eigenvalues in d. */
31 void eigen_decomposition(double A[3][3], double V[3][3], double d[3]);
32 
33 #endif