// -------------------------------------------------------------------------------
public float Solve(Vector3 outx, float svd_tol, int svd_sweeps, float pinv_tol)
{
if (this.data.numPoints == 0)
{
// Debug.LogError("Invalid Argument");
}
this.massPoint = new Vector3(this.data.massPoint_x, this.data.massPoint_y, this.data.massPoint_z);
this.massPoint = VecUtils.Scale(this.massPoint, (1.0f / (float)this.data.numPoints));
this.SetAta();
this.SetAtb();
Vector3 tmpv = MatUtils.Vmul_symmetric(this.ata, this.massPoint);
atb = VecUtils.Sub(atb, tmpv);
this.x = new Vector3(0, 0, 0);
float result = Svd.SolveSymmetric(this.ata, this.atb, this.x, svd_tol, svd_sweeps, pinv_tol);
VecUtils.AddScaled(this.x, 1, this.massPoint);
this.SetAtb();
outx.Set(x.x, x.y, x.z);
this.hasSolution = true;
return(result);
}
// -------------------------------------------------------------------------------
public float GetError(Vector3 pos)
{
if (!this.hasSolution)
{
this.SetAta();
this.SetAtb();
}
Vector3 atax = MatUtils.Vmul_symmetric(this.ata, pos);
return(VecUtils.Dot(pos, atax) - 2 * VecUtils.Dot(pos, this.atb) + this.data.btb);
}
