merge with main branch

1 files changed, 9 insertions, 14 deletions

diff --git a/Eigen/src/SVD/JacobiSVD.h b/Eigen/src/SVD/JacobiSVD.h
index 2ab4fc05e..9fd9de669 100644
--- a/Eigen/src/SVD/JacobiSVD.h
+++ b/Eigen/src/SVD/JacobiSVD.h
@@ -374,7 +374,7 @@ struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
     using std::sqrt;
     Scalar z;
     JacobiRotation<Scalar> rot;
-    RealScalar n = sqrt(abs2(work_matrix.coeff(p,p)) + abs2(work_matrix.coeff(q,p)));
+    RealScalar n = sqrt(numext::abs2(work_matrix.coeff(p,p)) + numext::abs2(work_matrix.coeff(q,p)));
     if(n==0)
     {
       z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
@@ -413,8 +413,8 @@ void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
 {
   using std::sqrt;
   Matrix<RealScalar,2,2> m;
-  m << real(matrix.coeff(p,p)), real(matrix.coeff(p,q)),
-       real(matrix.coeff(q,p)), real(matrix.coeff(q,q));
+  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
+       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
   JacobiRotation<RealScalar> rot1;
   RealScalar t = m.coeff(0,0) + m.coeff(1,1);
   RealScalar d = m.coeff(1,0) - m.coeff(0,1);
@@ -426,7 +426,7 @@ void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
   else
   {
     RealScalar u = d / t;
-    rot1.c() = RealScalar(1) / sqrt(RealScalar(1) + abs2(u));
+    rot1.c() = RealScalar(1) / sqrt(RealScalar(1) + numext::abs2(u));
     rot1.s() = rot1.c() * u;
   }
   m.applyOnTheLeft(0,1,rot1);
@@ -850,17 +850,12 @@ struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
     // A = U S V^*
     // So A^{-1} = V S^{-1} U^*
 
-    Index diagSize = (std::min)(dec().rows(), dec().cols());
-    typename JacobiSVDType::SingularValuesType invertedSingVals(diagSize);
-
+    Matrix<Scalar, Dynamic, Rhs::ColsAtCompileTime, 0, _MatrixType::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime> tmp;
     Index nonzeroSingVals = dec().nonzeroSingularValues();
-    invertedSingVals.head(nonzeroSingVals) = dec().singularValues().head(nonzeroSingVals).array().inverse();
-    invertedSingVals.tail(diagSize - nonzeroSingVals).setZero();
-
-    dst = dec().matrixV().leftCols(diagSize)
-        * invertedSingVals.asDiagonal()
-        * dec().matrixU().leftCols(diagSize).adjoint()
-        * rhs();
+    
+    tmp.noalias() = dec().matrixU().leftCols(nonzeroSingVals).adjoint() * rhs();
+    tmp = dec().singularValues().head(nonzeroSingVals).asDiagonal().inverse() * tmp;
+    dst = dec().matrixV().leftCols(nonzeroSingVals) * tmp;
   }
 };
 } // end namespace internal