gokhansolak

// method for calculating the pseudo-Inverse as recommended by Eigen developers
template<typename _Matrix_Type_>
_Matrix_Type_ pseudoInverse(const _Matrix_Type_ &a, double epsilon = std::numeric_limits<double>::epsilon())
{
	Eigen::JacobiSVD< _Matrix_Type_ > svd(a ,Eigen::ComputeThinU | Eigen::ComputeThinV);
	double tolerance = epsilon * std::max(a.cols(), a.rows()) *svd.singularValues().array().abs()(0);
	return svd.matrixV() *  (svd.singularValues().array().abs() > tolerance).select(svd.singularValues().array().inverse(), 0).matrix().asDiagonal() * svd.matrixU().adjoint();
}