/**
* <p>
* Checks to see if a matrix is orthogonal or isometric.
* </p>
*
* @param Q The matrix being tested. Not modified.
* @param tol Tolerance.
* @return True if it passes the test.
*/
public static bool isOrthogonal(DMatrixRMaj Q, double tol)
{
if (Q.numRows < Q.numCols)
{
throw new ArgumentException("The number of rows must be more than or equal to the number of columns");
}
DMatrixRMaj[] u = CommonOps_DDRM.columnsToVector(Q, null);
for (int i = 0; i < u.Count(); i++)
{
DMatrixRMaj a = u[i];
for (int j = i + 1; j < u.Count(); j++)
{
double val = VectorVectorMult_DDRM.innerProd(a, u[j]);
if (!(Math.Abs(val) <= tol))
{
return(false);
}
}
}
return(true);
}