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Fix: updated jacobi as template (backport #560) #561

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Merged
scpeters merged 4 commits into from
Nov 25, 2025
Merged

Fix: updated jacobi as template (backport #560) #561

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0e646e8
Fix: updated jacobi as template
miguelgonrod Nov 21, 2025
54a2744
Fix: forgot to add template keyword
miguelgonrod Nov 21, 2025
b4ee584
Added a explicit definition of svdecomposition
miguelgonrod Nov 21, 2025
3bae09b
Added the flag for decomposition
miguelgonrod Nov 21, 2025
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16 changes: 10 additions & 6 deletions src/DopplerVelocityLog.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1571,9 +1571,11 @@ namespace gz
if (numBeamsLocked >= 3)
{
// Enough rows for a unique least squares solution
const auto svdDecomposition =
beamBasis.topRows(numBeamsLocked).jacobiSvd(
Eigen::ComputeThinU | Eigen::ComputeThinV);
const Eigen::MatrixXd svdMat =
beamBasis.topRows(numBeamsLocked).eval();
using SvdT = Eigen::JacobiSVD<Eigen::MatrixXd>;
const SvdT svdDecomposition(svdMat,
Eigen::ComputeThinU | Eigen::ComputeThinV);

// Estimate DVL velocity mean and covariance in the reference frame
const Eigen::Vector3d velocityMeanInReferenceFrame =
Expand Down Expand Up @@ -1821,9 +1823,11 @@ namespace gz
if (numBeamsLocked >= 3)
{
// Enough rows for a unique least squares solution
const auto svdDecomposition =
beamBasis.topRows(numBeamsLocked).jacobiSvd(
Eigen::ComputeThinU | Eigen::ComputeThinV);
const Eigen::MatrixXd svdMat =
beamBasis.topRows(numBeamsLocked).eval();
using SvdT = Eigen::JacobiSVD<Eigen::MatrixXd>;
const SvdT svdDecomposition(svdMat,
Eigen::ComputeThinU | Eigen::ComputeThinV);

// Estimate DVL velocity mean and covariance in the reference frame
const Eigen::Vector3d velocityMeanInReferenceFrame =
Expand Down
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