Merged branch 'dev_native' into lm_sla_supports_auto

Added igl library files

src/igl/pinv.h

@@ -0,0 +1,29 @@
+#ifndef IGL_PINV_H
+#define IGL_PINV_H
+#include "igl_inline.h"
+#include <Eigen/Core>
+namespace igl
+{
+  // Compute the Moore-Penrose pseudoinverse
+  //
+  // Inputs:
+  //   A  m by n matrix 
+  //   tol  tolerance (if negative then default is used)
+  // Outputs:
+  //   X  n by m matrix so that A*X*A = A and X*A*X = X and A*X = (A*X)' and
+  //     (X*A) = (X*A)'
+  template <typename DerivedA, typename DerivedX>
+  void pinv(
+    const Eigen::MatrixBase<DerivedA> & A,
+    typename DerivedA::Scalar tol,
+    Eigen::PlainObjectBase<DerivedX> & X);
+  // Wrapper using default tol
+  template <typename DerivedA, typename DerivedX>
+  void pinv(
+    const Eigen::MatrixBase<DerivedA> & A,
+    Eigen::PlainObjectBase<DerivedX> & X);
+}
+#ifndef IGL_STATIC_LIBRARY
+#  include "pinv.cpp"
+#endif
+#endif