/// <summary>
/// Repeatedly multiplying rotations together can lead to round-off error
/// which causes the rotation to become invalid. This function uses the
/// SVD to force orthonormality, giving the closest valid rotation matrix
/// in a Mahalanobis distance sense. Call it every now and then if you're
/// worried about errors accumulating.
/// </summary>
public void Normalise()
{
// Doing SVD and setting all singular values to 1 gives the
// rotation matrix closest to M in the Mahalanobis distance sense.
SVD svd = new SVD(this);
// Only update if the SVD was successful (sometimes fails to converge
// if already within precision of solution)
if (!svd.Valid())
{
Debug.WriteLine("VW::RotationMatrix::Normalise(): SVD failed.");
}
else
{
//this = svd.U() * svd.V().Transpose();
}
}
/// <summary>
/// Repeatedly multiplying rotations together can lead to round-off error
/// which causes the rotation to become invalid. This function uses the
/// SVD to force orthonormality, giving the closest valid rotation matrix
/// in a Mahalanobis distance sense. Call it every now and then if you're
/// worried about errors accumulating.
/// </summary>
public void Normalise()
{
// Doing SVD and setting all singular values to 1 gives the
// rotation matrix closest to M in the Mahalanobis distance sense.
SVD svd = new SVD(this);
// Only update if the SVD was successful (sometimes fails to converge
// if already within precision of solution)
if (!svd.Valid())
{
Debug.WriteLine("VW::RotationMatrix::Normalise(): SVD failed.");
}
else
{
//this = svd.U() * svd.V().Transpose();
}
}