Merge branch 'dev' into master-public

# Conflicts:
#	src/linalg/svd.rs

src/linalg/svd.rs

@@ -484,90 +484,94 @@ where
 
     /// Rebuild the original matrix.
     ///
-    /// This is useful if some of the singular values have been manually modified.  Panics if the
+    /// This is useful if some of the singular values have been manually modified.
-    /// right- and left- singular vectors have not been computed at construction-time.
+    /// Returns `Err` if the right- and left- singular vectors have not been
-    pub fn recompose(self) -> MatrixMN<N, R, C> {
+    /// computed at construction-time.
-        let mut u = self.u.expect("SVD recomposition: U has not been computed.");
+    pub fn recompose(self) -> Result<MatrixMN<N, R, C>, &'static str> {
-        let v_t = self
+        match (self.u, self.v_t) {
-            .v_t
+            (Some(mut u), Some(v_t)) => {
-            .expect("SVD recomposition: V^t has not been computed.");
+                for i in 0..self.singular_values.len() {
-
+                    let val = self.singular_values[i];
-        for i in 0..self.singular_values.len() {
+                    u.column_mut(i).mul_assign(val);
-            let val = self.singular_values[i];
+                }
-            u.column_mut(i).mul_assign(val);
+                Ok(u * v_t)
+            }
+            (None, None) => Err("SVD recomposition: U and V^t have not been computed."),
+            (None, _) => Err("SVD recomposition: U has not been computed."),
+            (_, None) => Err("SVD recomposition: V^t has not been computed.")
         }
-
-        u * v_t
     }
 
     /// Computes the pseudo-inverse of the decomposed matrix.
     ///
     /// Any singular value smaller than `eps` is assumed to be zero.
-    /// Panics if the right- and left- singular vectors have not been computed at
+    /// Returns `Err` if the right- and left- singular vectors have not
-    /// construction-time.
+    /// been computed at construction-time.
-    pub fn pseudo_inverse(mut self, eps: N) -> MatrixMN<N, C, R>
+    pub fn pseudo_inverse(mut self, eps: N) -> Result<MatrixMN<N, C, R>, &'static str>
-    where DefaultAllocator: Allocator<N, C, R> {
+    where
-        assert!(
+        DefaultAllocator: Allocator<N, C, R>,
-            eps >= N::zero(),
+    {
-            "SVD pseudo inverse: the epsilon must be non-negative."
+        if eps < N::zero() {
-        );
+            Err("SVD pseudo inverse: the epsilon must be non-negative.")
-        for i in 0..self.singular_values.len() {
-            let val = self.singular_values[i];
-
-            if val > eps {
-                self.singular_values[i] = N::one() / val;
-            } else {
-                self.singular_values[i] = N::zero();
-            }
         }
+        else {
+            for i in 0..self.singular_values.len() {
+                let val = self.singular_values[i];
 
-        self.recompose().transpose()
+                if val > eps {
+                    self.singular_values[i] = N::one() / val;
+                } else {
+                    self.singular_values[i] = N::zero();
+                }
+            }
+
+            self.recompose().map(|m| m.transpose())
+        }
     }
 
     /// Solves the system `self * x = b` where `self` is the decomposed matrix and `x` the unknown.
     ///
     /// Any singular value smaller than `eps` is assumed to be zero.
-    /// Returns `None` if the singular vectors `U` and `V` have not been computed.
+    /// Returns `Err` if the singular vectors `U` and `V` have not been computed.
     // FIXME: make this more generic wrt the storage types and the dimensions for `b`.
     pub fn solve<R2: Dim, C2: Dim, S2>(
         &self,
         b: &Matrix<N, R2, C2, S2>,
         eps: N,
-    ) -> MatrixMN<N, C, C2>
+    ) -> Result<MatrixMN<N, C, C2>, &'static str>
     where
         S2: Storage<N, R2, C2>,
         DefaultAllocator: Allocator<N, C, C2> + Allocator<N, DimMinimum<R, C>, C2>,
         ShapeConstraint: SameNumberOfRows<R, R2>,
     {
-        assert!(
+        if eps < N::zero() {
-            eps >= N::zero(),
+            Err("SVD solve: the epsilon must be non-negative.")
-            "SVD solve: the epsilon must be non-negative."
+        }
-        );
+        else {
-        let u = self
+            match (&self.u, &self.v_t) {
-            .u
+                (Some(u), Some(v_t)) => {
-            .as_ref()
+                    let mut ut_b = u.tr_mul(b);
-            .expect("SVD solve: U has not been computed.");
-        let v_t = self
-            .v_t
-            .as_ref()
-            .expect("SVD solve: V^t has not been computed.");
 
-        let mut ut_b = u.tr_mul(b);
+                    for j in 0..ut_b.ncols() {
+                        let mut col = ut_b.column_mut(j);
 
-        for j in 0..ut_b.ncols() {
+                        for i in 0..self.singular_values.len() {
-            let mut col = ut_b.column_mut(j);
+                            let val = self.singular_values[i];
+                            if val > eps {
+                                col[i] /= val;
+                            } else {
+                                col[i] = N::zero();
+                            }
+                        }
+                    }
 
-            for i in 0..self.singular_values.len() {
+                    Ok(v_t.tr_mul(&ut_b))
-                let val = self.singular_values[i];
-                if val > eps {
-                    col[i] /= val;
-                } else {
-                    col[i] = N::zero();
                 }
+                (None, None) => Err("SVD solve: U and V^t have not been computed."),
+                (None, _) => Err("SVD solve: U has not been computed."),
+                (_, None) => Err("SVD solve: V^t has not been computed.")
             }
         }
-
-        v_t.tr_mul(&ut_b)
     }
 }
 
@@ -624,8 +628,10 @@ where
     /// Computes the pseudo-inverse of this matrix.
     ///
     /// All singular values below `eps` are considered equal to 0.
-    pub fn pseudo_inverse(self, eps: N) -> MatrixMN<N, C, R>
+    pub fn pseudo_inverse(self, eps: N) -> Result<MatrixMN<N, C, R>, &'static str>
-    where DefaultAllocator: Allocator<N, C, R> {
+    where
+        DefaultAllocator: Allocator<N, C, R>,
+    {
         SVD::new(self.clone_owned(), true, true).pseudo_inverse(eps)
     }
 }

tests/linalg/svd.rs

@@ -10,7 +10,7 @@ mod quickcheck_tests {
         fn svd(m: DMatrix<f64>) -> bool {
             if m.len() > 0 {
                 let svd = m.clone().svd(true, true);
-                let recomp_m = svd.clone().recompose();
+                let recomp_m = svd.clone().recompose().unwrap();
                 let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
                 let ds = DMatrix::from_diagonal(&s);
 
@@ -91,7 +91,7 @@ mod quickcheck_tests {
         fn svd_pseudo_inverse(m: DMatrix<f64>) -> bool {
             if m.len() > 0 {
                 let svd = m.clone().svd(true, true);
-                let pinv = svd.pseudo_inverse(1.0e-10);
+                let pinv = svd.pseudo_inverse(1.0e-10).unwrap();
 
                 if m.nrows() > m.ncols() {
                     println!("{}", &pinv * &m);
@@ -118,10 +118,10 @@ mod quickcheck_tests {
                 let b1 = DVector::new_random(n);
                 let b2 = DMatrix::new_random(n, nb);
 
-                let sol1 = svd.solve(&b1, 1.0e-7);
+                let sol1 = svd.solve(&b1, 1.0e-7).unwrap();
-                let sol2 = svd.solve(&b2, 1.0e-7);
+                let sol2 = svd.solve(&b2, 1.0e-7).unwrap();
 
-                let recomp = svd.recompose();
+                let recomp = svd.recompose().unwrap();
                 if !relative_eq!(m, recomp, epsilon = 1.0e-6) {
                     println!("{}{}", m, recomp);
                 }
@@ -263,22 +263,22 @@ fn svd_singular_horizontal() {
 fn svd_zeros() {
     let m = DMatrix::from_element(10, 10, 0.0);
     let svd = m.clone().svd(true, true);
-    assert_eq!(m, svd.recompose());
+    assert_eq!(Ok(m), svd.recompose());
 }
 
 #[test]
 fn svd_identity() {
     let m = DMatrix::<f64>::identity(10, 10);
     let svd = m.clone().svd(true, true);
-    assert_eq!(m, svd.recompose());
+    assert_eq!(Ok(m), svd.recompose());
 
     let m = DMatrix::<f64>::identity(10, 15);
     let svd = m.clone().svd(true, true);
-    assert_eq!(m, svd.recompose());
+    assert_eq!(Ok(m), svd.recompose());
 
     let m = DMatrix::<f64>::identity(15, 10);
     let svd = m.clone().svd(true, true);
-    assert_eq!(m, svd.recompose());
+    assert_eq!(Ok(m), svd.recompose());
 }
 
 #[test]
@@ -295,7 +295,7 @@ fn svd_with_delimited_subproblem() {
     m[(8,8)] = 16.0; m[(3,9)] = 17.0;
     m[(9,9)] = 18.0;
     let svd = m.clone().svd(true, true);
-    assert!(relative_eq!(m, svd.recompose(), epsilon = 1.0e-7));
+    assert!(relative_eq!(m, svd.recompose().unwrap(), epsilon = 1.0e-7));
 
     // Rectangular versions.
     let mut m = DMatrix::<f64>::from_element(15, 10, 0.0);
@@ -310,10 +310,10 @@ fn svd_with_delimited_subproblem() {
     m[(8,8)] = 16.0; m[(3,9)] = 17.0;
     m[(9,9)] = 18.0;
     let svd = m.clone().svd(true, true);
-    assert!(relative_eq!(m, svd.recompose(), epsilon = 1.0e-7));
+    assert!(relative_eq!(m, svd.recompose().unwrap(), epsilon = 1.0e-7));
 
     let svd = m.transpose().svd(true, true);
-    assert!(relative_eq!(m.transpose(), svd.recompose(), epsilon = 1.0e-7));
+    assert!(relative_eq!(m.transpose(), svd.recompose().unwrap(), epsilon = 1.0e-7));
 }
 
 #[test]
@@ -329,7 +329,15 @@ fn svd_fail() {
     println!("Singular values: {}", svd.singular_values);
     println!("u: {:.5}", svd.u.unwrap());
     println!("v: {:.5}", svd.v_t.unwrap());
-    let recomp = svd.recompose();
+    let recomp = svd.recompose().unwrap();
     println!("{:.5}{:.5}", m, recomp);
     assert!(relative_eq!(m, recomp, epsilon = 1.0e-5));
 }
+
+#[test]
+fn svd_err() {
+    let m = DMatrix::from_element(10, 10, 0.0);
+    let svd = m.clone().svd(false, false);
+    assert_eq!(Err("SVD recomposition: U and V^t have not been computed."), svd.clone().recompose());
+    assert_eq!(Err("SVD pseudo inverse: the epsilon must be non-negative."), svd.clone().pseudo_inverse(-1.0));
+}