Some improvements to efficiency#290
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rhaschke wants to merge 3 commits intofrankarobotics:developfrom
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... when only singular values are needed. Actually, it might suffice to compute the determinant!
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Considering S as a rectangular matrix when only the diagonal elements are relevant is vasting computing resources in matrix multiplication.
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@rhaschke, significant improvements; I used them on my fork! @Maverobot, could we please consider merging these changes into the |
rickstaa
approved these changes
Sep 4, 2023
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