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…d ignored error output for pr
…rom a float to a double you don't lose any data but whatever)
…ike switching between double and float so loosely during compilation
nguy8tri
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Mar 7, 2026
nguy8tri
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nguy8tri
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Uh oh, I cannot review this until Josh's code review is merged, because it is both his and your PR. Please have Josh follow up on my comments first.
j4lando
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Mar 8, 2026
| * | ||
| * @param data An NxM matrix with each row corresponding to a vector and an expected dot product output | ||
| * | ||
| * i.e rows enumerated by j may contain [position[j].x, position[j].y, position[j].z, 1] |
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these comments specify how you use the TLS in CRA not what an the TLS algorithm does. Try righting more general comments
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Description
Created a simple Total Least Squares implementation using SVD in attitude utils.
Input: matrix with each row containing [input row vector, expected output]
Output: Vector that dots with each input vector to minimize the error of the outputs
The implementation is pretty simple, it just uses SVD to find a vector closest to the null space
Artifacts for PR #68 (DO NOT CHANGE)