using System.Collections;

namespace VisualMath.Accord.Math.Decompositions
{
    using System;

    /// <summary>
    ///   Singular Value Decomposition for a rectangular matrix.
    /// </summary>
    /// <remarks>
    ///  <para>
    ///	  For an m-by-n matrix <c>A</c> with <c>m >= n</c>, the singular value decomposition
    ///   is an m-by-n orthogonal matrix <c>U</c>, an n-by-n diagonal matrix <c>S</c>, and
    ///   an n-by-n orthogonal matrix <c>V</c> so that <c>A = U * S * V'</c>.
    ///   The singular values, <c>sigma[k] = S[k,k]</c>, are ordered so that
    ///   <c>sigma[0] >= sigma[1] >= ... >= sigma[n-1]</c>.</para>
    ///  <para>
    ///   The singular value decomposition always exists, so the constructor will
    ///   never fail. The matrix condition number and the effective numerical
    ///   rank can be computed from this decomposition.</para>
    ///  <para>
    ///   WARNING! Please be aware that if A has less rows than columns, it is better
    ///   to compute the decomposition on the transpose of A and then swap the left
    ///   and right eigenvectors. If the routine is computed on A directly, the diagonal
    ///   of singular values may contain one or more zeros. The identity A = U * S * V'
    ///   may still hold, however. To overcome this problem, pass true to the
    ///   <see cref="SingularValueDecomposition(double[,], bool, bool, bool)">autoTranspose</see> argument of the class constructor.</para>
    ///  <para>
    ///   This routine computes the economy decomposition of A.</para> 
    ///   
    /// </remarks>
    public sealed class SingularValueDecomposition
    {
        private double[,] u;
        private double[,] v;
        private double[] s; // singular values
        private int m;
        private int n;
        private bool swapped;


        /// <summary>Returns the condition number <c>max(S) / min(S)</c>.</summary>
        public double Condition
        {
            get { return s[0] / s[System.Math.Min(m, n) - 1]; }
        }

        /// <summary>Returns the singularity threshold.</summary>
        public double Threshold
        {
            get { return Double.Epsilon * System.Math.Max(m, n) * s[0]; }
        }

        /// <summary>Returns the Two norm.</summary>
        public double TwoNorm
        {
            get { return s[0]; }
        }

        /// <summary>Returns the effective numerical matrix rank.</summary>
        /// <value>Number of non-negligible singular values.</value>
        public int Rank
        {
            get
            {
                double eps = System.Math.Pow(2.0, -52.0);
                double tol = System.Math.Max(m, n) * s[0] * eps;
                int r = 0;
                for (int i = 0; i < s.Length; i++)
                {
                    if (s[i] > tol)
                        r++;
                }

                return r;
            }
        }

        /// <summary>Returns the one-dimensional array of singular values.</summary>		
        public double[] Diagonal
        {
            get { return this.s; }
        }

        /// <summary>Returns the block diagonal matrix of singular values.</summary>		
        public double[,] DiagonalMatrix
        {
            get { return Matrix.Diagonal(s); }
        }

        /// <summary>Returns the V matrix of Singular Vectors.</summary>		
        public double[,] RightSingularVectors
        {
            get { return v; }
        }

        /// <summary>Return the U matrix of Singular Vectors.</summary>		
        public double[,] LeftSingularVectors
        {
            get { return u; }
        }



        /// <summary>Construct singular value decomposition.</summary>
        public SingularValueDecomposition(double[,] value)
            : this(value, true, true)
        {
        }

        /// <summary>Construct singular value decomposition.</summary>
        public SingularValueDecomposition(double[,] value, bool computeLeftSingularVectors, bool computeRightSingularVectors)
            : this(value, computeLeftSingularVectors, computeRightSingularVectors, false)
        {
        }

        /// <summary>Construct singular value decomposition.</summary>
        public SingularValueDecomposition(double[,] value, bool computeLeftSingularVectors, bool computeRightSingularVectors, bool autoTranspose)
        {
            if (value == null)
            {
                throw new ArgumentNullException("value", "Matrix cannot be null.");
            }

            double[,] a;
            m = value.GetLength(0); // rows
            n = value.GetLength(1); // cols

            double eps = System.Math.Pow(2.0, -52.0);
            double tiny = System.Math.Pow(2.0, -966.0);


            if (m < n) // Check if we are violating JAMA's assumption
            {
                if (!autoTranspose) // Yes, check if we should correct it
                {
                    // Warning! This routine is not guaranteed to work when A has less rows
                    //  than columns. If this is the case, you should compute SVD on the
                    //  transpose of A and then swap the left and right eigenvectors.

                    // However, as the solution found can still be useful, the exception below
                    // will not be thrown, and only a warning will be output in the trace.

                    // throw new ArgumentException("Matrix should have more rows than columns.");

                    System.Diagnostics.Trace.WriteLine(
                        "WARNING: Computing SVD on a matrix with more columns than rows.");

                    // Proceed anyway
                    a = (double[,])value.Clone();
                }
                else
                {
                    // Transposing and swapping
                    a = value.Transpose();
                    m = value.GetLength(1);
                    n = value.GetLength(0);
                    swapped = true;
                }
            }
            else
            {
                a = (double[,])value.Clone(); // Input matrix is ok
            }


            int nu = System.Math.Min(m, n);
            s = new double[System.Math.Min(m + 1, n)];
            u = new double[m, nu];
            v = new double[n, n];
            double[] e = new double[n];
            double[] work = new double[m];
            bool wantu = computeLeftSingularVectors;
            bool wantv = computeRightSingularVectors;

            // Reduce A to bidiagonal form, storing the diagonal elements in s and the super-diagonal elements in e.
            int nct = System.Math.Min(m - 1, n);
            int nrt = System.Math.Max(0, System.Math.Min(n - 2, m));
            for (int k = 0; k < System.Math.Max(nct, nrt); k++)
            {
                if (k < nct)
                {
                    // Compute the transformation for the k-th column and place the k-th diagonal in s[k].
                    // Compute 2-norm of k-th column without under/overflow.
                    s[k] = 0;
                    for (int i = k; i < m; i++)
                    {
                        s[k] = Accord.Math.Tools.Hypotenuse(s[k], a[i, k]);
                    }

                    if (s[k] != 0.0)
                    {
                        if (a[k, k] < 0.0)
                        {
                            s[k] = -s[k];
                        }

                        for (int i = k; i < m; i++)
                        {
                            a[i, k] /= s[k];
                        }

                        a[k, k] += 1.0;
                    }

                    s[k] = -s[k];
                }

                unsafe
                {
                    for (int j = k + 1; j < n; j++)
                    {
                        fixed (double* ptr_ak = &a[k, k], ptr_aj = &a[k, j])
                        {
                            if ((k < nct) & (s[k] != 0.0))
                            {
                                // Apply the transformation.
                                double t = 0;
                                double* ak = ptr_ak;
                                double* aj = ptr_aj;

                                for (int i = k; i < m; i++)
                                {
                                    t += (*ak) * (*aj);
                                    ak += n; aj += n;
                                }

                                t = -t / *ptr_ak;
                                ak = ptr_ak;
                                aj = ptr_aj;

                                for (int i = k; i < m; i++)
                                {
                                    *aj += t * (*ak);
                                    ak += n; aj += n;
                                }
                            }

                            // Place the k-th row of A into e for the subsequent calculation of the row transformation.
                            e[j] = *ptr_aj;
                        }
                    }
                }


                if (wantu & (k < nct))
                {
                    // Place the transformation in U for subsequent back
                    // multiplication.
                    for (int i = k; i < m; i++)
                        u[i, k] = a[i, k];
                }

                if (k < nrt)
                {
                    // Compute the k-th row transformation and place the k-th super-diagonal in e[k].
                    // Compute 2-norm without under/overflow.
                    e[k] = 0;
                    for (int i = k + 1; i < n; i++)
                    {
                        e[k] = Accord.Math.Tools.Hypotenuse(e[k], e[i]);
                    }

                    if (e[k] != 0.0)
                    {
                        if (e[k + 1] < 0.0)
                            e[k] = -e[k];

                        for (int i = k + 1; i < n; i++)
                            e[i] /= e[k];

                        e[k + 1] += 1.0;
                    }

                    e[k] = -e[k];
                    if ((k + 1 < m) & (e[k] != 0.0))
                    {
                        // Apply the transformation.
                        for (int i = k + 1; i < m; i++)
                            work[i] = 0.0;

                        unsafe
                        {
                            fixed (double* ptr_a = a)
                            {
                                int k1 = k + 1;
                                for (int i = k1; i < m; i++)
                                {
                                    double* ai = ptr_a + (i * n) + k1;
                                    for (int j = k1; j < n; j++, ai++)
                                    {
                                        work[i] += e[j] * (*ai);
                                    }
                                }

                                for (int j = k1; j < n; j++)
                                {
                                    double t = -e[j] / e[k1];
                                    double* aj = ptr_a + (k1 * n) + j;
                                    for (int i = k1; i < m; i++, aj += n)
                                    {
                                        *aj += t * work[i];
                                    }
                                }
                            }
                        }
                    }

                    if (wantv)
                    {
                        // Place the transformation in V for subsequent back multiplication.
                        for (int i = k + 1; i < n; i++)
                            v[i, k] = e[i];
                    }
                }
            }

            // Set up the final bidiagonal matrix or order p.
            int p = System.Math.Min(n, m + 1);
            if (nct < n) s[nct] = a[nct, nct];
            if (m < p) s[p - 1] = 0.0;
            if (nrt + 1 < p) e[nrt] = a[nrt, p - 1];
            e[p - 1] = 0.0;

            // If required, generate U.
            if (wantu)
            {
                for (int j = nct; j < nu; j++)
                {
                    for (int i = 0; i < m; i++)
                        u[i, j] = 0.0;
                    u[j, j] = 1.0;
                }

                unsafe
                {
                    for (int k = nct - 1; k >= 0; k--)
                    {
                        if (s[k] != 0.0)
                        {
                            fixed (double* ptr_uk = &u[k, k])
                            {
                                double* uk, uj;
                                for (int j = k + 1; j < nu; j++)
                                {
                                    fixed (double* ptr_uj = &u[k, j])
                                    {
                                        double t = 0;
                                        uk = ptr_uk;
                                        uj = ptr_uj;

                                        for (int i = k; i < m; i++)
                                        {
                                            t += *uk * *uj;
                                            uk += nu; uj += nu;
                                        }

                                        t = -t / *ptr_uk;
                                        uk = ptr_uk;
                                        uj = ptr_uj;

                                        for (int i = k; i < m; i++)
                                        {
                                            *uj += t * *uk;
                                            uk += nu; uj += nu;
                                        }
                                    }
                                }

                                uk = ptr_uk;
                                for (int i = k; i < m; i++)
                                {
                                    *uk = -(*uk);
                                    uk += nu;
                                }

                                u[k, k] = 1.0 + u[k, k];
                                for (int i = 0; i < k - 1; i++)
                                    u[i, k] = 0.0;
                            }
                        }
                        else
                        {
                            for (int i = 0; i < m; i++)
                                u[i, k] = 0.0;
                            u[k, k] = 1.0;
                        }
                    }
                }
            }

            // If required, generate V.
            if (wantv)
            {
                for (int k = n - 1; k >= 0; k--)
                {
                    if ((k < nrt) & (e[k] != 0.0))
                    {
                        // TODO: The following is a pseudo correction to make SVD
                        //  work on matrices with n > m (less rows than columns).

                        // For the proper correction, compute the decomposition of the
                        //  transpose of A and swap the left and right eigenvectors

                        // Original line:
                        //   for (int j = k + 1; j < nu; j++)
                        // Pseudo correction:
                        //   for (int j = k + 1; j < n; j++)

                        for (int j = k + 1; j < n; j++) // pseudo-correction
                        {
                            unsafe
                            {
                                fixed (double* ptr_vk = &v[k + 1, k], ptr_vj = &v[k + 1, j])
                                {
                                    double t = 0;
                                    double* vk = ptr_vk;
                                    double* vj = ptr_vj;

                                    for (int i = k + 1; i < n; i++)
                                    {
                                        t += *vk * *vj;
                                        vk += n; vj += n;
                                    }

                                    t = -t / *ptr_vk;
                                    vk = ptr_vk;
                                    vj = ptr_vj;

                                    for (int i = k + 1; i < n; i++)
                                    {
                                        *vj += t * *vk;
                                        vk += n; vj += n;
                                    }
                                }
                            }
                        }
                    }

                    for (int i = 0; i < n; i++)
                        v[i, k] = 0.0;
                    v[k, k] = 1.0;
                }
            }

            // Main iteration loop for the singular values.
            int pp = p - 1;
            int iter = 0;
            while (p > 0)
            {
                int k, kase;

                // Here is where a test for too many iterations would go.

                // This section of the program inspects for
                // negligible elements in the s and e arrays.  On
                // completion the variables kase and k are set as follows.

                // kase = 1     if s(p) and e[k-1] are negligible and k<p
                // kase = 2     if s(k) is negligible and k<p
                // kase = 3     if e[k-1] is negligible, k<p, and
                //              s(k), ..., s(p) are not negligible (qr step).
                // kase = 4     if e(p-1) is negligible (convergence).

                for (k = p - 2; k >= -1; k--)
                {
                    if (k == -1)
                        break;

                    if (System.Math.Abs(e[k]) <=
                       tiny + eps * (System.Math.Abs(s[k]) + System.Math.Abs(s[k + 1])))
                    {
                        e[k] = 0.0;
                        break;
                    }
                }

                if (k == p - 2)
                {
                    kase = 4;
                }
                else
                {
                    int ks;
                    for (ks = p - 1; ks >= k; ks--)
                    {
                        if (ks == k)
                            break;

                        double t = (ks != p ? System.Math.Abs(e[ks]) : 0.0) +
                                   (ks != k + 1 ? System.Math.Abs(e[ks - 1]) : 0.0);
                        if (System.Math.Abs(s[ks]) <= tiny + eps * t)
                        {
                            s[ks] = 0.0;
                            break;
                        }
                    }

                    if (ks == k)
                        kase = 3;
                    else if (ks == p - 1)
                        kase = 1;
                    else
                    {
                        kase = 2;
                        k = ks;
                    }
                }

                k++;

                // Perform the task indicated by kase.
                switch (kase)
                {
                    // Deflate negligible s(p).
                    case 1:
                        {
                            double f = e[p - 2];
                            e[p - 2] = 0.0;
                            for (int j = p - 2; j >= k; j--)
                            {
                                double t = Accord.Math.Tools.Hypotenuse(s[j], f);
                                double cs = s[j] / t;
                                double sn = f / t;
                                s[j] = t;
                                if (j != k)
                                {
                                    f = -sn * e[j - 1];
                                    e[j - 1] = cs * e[j - 1];
                                }

                                if (wantv)
                                {
                                    for (int i = 0; i < n; i++)
                                    {
                                        t = cs * v[i, j] + sn * v[i, p - 1];
                                        v[i, p - 1] = -sn * v[i, j] + cs * v[i, p - 1];
                                        v[i, j] = t;
                                    }
                                }
                            }
                        }
                        break;

                    // Split at negligible s(k).
                    case 2:
                        {
                            double f = e[k - 1];
                            e[k - 1] = 0.0;
                            for (int j = k; j < p; j++)
                            {
                                double t = Accord.Math.Tools.Hypotenuse(s[j], f);
                                double cs = s[j] / t;
                                double sn = f / t;
                                s[j] = t;
                                f = -sn * e[j];
                                e[j] = cs * e[j];

                                if (wantu)
                                {
                                    for (int i = 0; i < m; i++)
                                    {
                                        t = cs * u[i, j] + sn * u[i, k - 1];
                                        u[i, k - 1] = -sn * u[i, j] + cs * u[i, k - 1];
                                        u[i, j] = t;
                                    }
                                }
                            }
                        }
                        break;

                    // Perform one qr step.
                    case 3:
                        {
                            // Calculate the shift.
                            double scale = System.Math.Max(System.Math.Max(System.Math.Max(System.Math.Max(System.Math.Abs(s[p - 1]), System.Math.Abs(s[p - 2])), System.Math.Abs(e[p - 2])), System.Math.Abs(s[k])), System.Math.Abs(e[k]));
                            double sp = s[p - 1] / scale;
                            double spm1 = s[p - 2] / scale;
                            double epm1 = e[p - 2] / scale;
                            double sk = s[k] / scale;
                            double ek = e[k] / scale;
                            double b = ((spm1 + sp) * (spm1 - sp) + epm1 * epm1) / 2.0;
                            double c = (sp * epm1) * (sp * epm1);
                            double shift = 0.0;

                            if ((b != 0.0) | (c != 0.0))
                            {
                                if (b < 0.0)
                                    shift = -System.Math.Sqrt(b * b + c);
                                else
                                    shift = System.Math.Sqrt(b * b + c);

                                shift = c / (b + shift);
                            }

                            double f = (sk + sp) * (sk - sp) + shift;
                            double g = sk * ek;

                            // Chase zeros.
                            for (int j = k; j < p - 1; j++)
                            {
                                double t = Accord.Math.Tools.Hypotenuse(f, g);
                                double cs = f / t;
                                double sn = g / t;
                                if (j != k) e[j - 1] = t;
                                f = cs * s[j] + sn * e[j];
                                e[j] = cs * e[j] - sn * s[j];
                                g = sn * s[j + 1];
                                s[j + 1] = cs * s[j + 1];

                                if (wantv)
                                {
                                    unsafe
                                    {
                                        fixed (double* ptr_vj = &v[0, j])
                                        {
                                            double* vj = ptr_vj;
                                            double* vj1 = ptr_vj + 1;

                                            for (int i = 0; i < n; i++)
                                            {
                                                /*t = cs * v[i, j] + sn * v[i, j + 1];
                                                v[i, j + 1] = -sn * v[i, j] + cs * v[i, j + 1];
                                                v[i, j] = t;*/

                                                double vij = *vj;
                                                double vij1 = *vj1;

                                                t = cs * vij + sn * vij1;
                                                *vj1 = -sn * vij + cs * vij1;
                                                *vj = t;

                                                vj += n; vj1 += n;
                                            }
                                        }
                                    }
                                }

                                t = Accord.Math.Tools.Hypotenuse(f, g);
                                cs = f / t;
                                sn = g / t;
                                s[j] = t;
                                f = cs * e[j] + sn * s[j + 1];
                                s[j + 1] = -sn * e[j] + cs * s[j + 1];
                                g = sn * e[j + 1];
                                e[j + 1] = cs * e[j + 1];

                                if (wantu && (j < m - 1))
                                {
                                    unsafe
                                    {
                                        fixed (double* ptr_uj = &u[0, j])
                                        {
                                            double* uj = ptr_uj;
                                            double* uj1 = ptr_uj + 1;

                                            for (int i = 0; i < m; i++)
                                            {
                                                /* t = cs * u[i, j] + sn * u[i, j + 1];
                                                 u[i, j + 1] = -sn * u[i, j] + cs * u[i, j + 1];
                                                 u[i, j] = t;*/

                                                double uij = *uj;
                                                double uij1 = *uj1;

                                                t = cs * uij + sn * uij1;
                                                *uj1 = -sn * uij + cs * uij1;
                                                *uj = t;

                                                uj += nu; uj1 += nu;
                                            }
                                        }
                                    }
                                }

                            }

                            e[p - 2] = f;
                            iter = iter + 1;
                        }
                        break;

                    // Convergence.
                    case 4:
                        {
                            // Make the singular values positive.
                            if (s[k] <= 0.0)
                            {
                                s[k] = (s[k] < 0.0 ? -s[k] : 0.0);
                                if (wantv)
                                {
                                    for (int i = 0; i <= pp; i++)
                                        v[i, k] = -v[i, k];
                                }
                            }

                            // Order the singular values.
                            while (k < pp)
                            {
                                if (s[k] >= s[k + 1])
                                    break;

                                double t = s[k];
                                s[k] = s[k + 1];
                                s[k + 1] = t;
                                if (wantv && (k < n - 1))
                                    for (int i = 0; i < n; i++)
                                    {
                                        t = v[i, k + 1];
                                        v[i, k + 1] = v[i, k];
                                        v[i, k] = t;
                                    }

                                if (wantu && (k < m - 1))
                                    for (int i = 0; i < m; i++)
                                    {
                                        t = u[i, k + 1];
                                        u[i, k + 1] = u[i, k];
                                        u[i, k] = t;
                                    }

                                k++;
                            }

                            iter = 0;
                            p--;
                        }
                        break;
                }
            }

            // If we are violating JAMA's assumption about 
            // the input dimension, we need to swap u and v.
            if (swapped)
            {
                double[,] temp = this.u;
                this.u = this.v;
                this.v = temp;
            }
        }


        /// <summary>
        ///   Solves a linear equation system of the form AX = B.
        /// </summary>
        /// <param name="value">Parameter B from the equation AX = B.</param>
        /// <returns>The solution X from equation AX = B.</returns>
        public double[,] Solve(double[,] value)
        {
            // Additionally an important property is that if there does not exists a solution
            // when the matrix A is singular but replacing 1/Li with 0 will provide a solution
            // that minimizes the residue |AX -Y|. SVD finds the least squares best compromise
            // solution of the linear equation system. Interestingly SVD can be also used in an
            // over-determined system where the number of equations exceeds that of the parameters.

            // L is a diagonal matrix with non-negative matrix elements having the same
            // dimension as A, Wi ? 0. The diagonal elements of L are the singular values of matrix A.

            double[,] Y = value;

            // Create L*, which is a diagonal matrix with elements
            //    L*[i] = 1/L[i]  if L[i] < e, else 0, 
            // where e is the so-called singularity threshold.

            // In other words, if L[i] is zero or close to zero (smaller than e),
            // one must replace 1/L[i] with 0. The value of e depends on the precision
            // of the hardware. This method can be used to solve linear equations
            // systems even if the matrices are singular or close to singular.

            //singularity threshold
            double e = this.Threshold;


            int scols = s.Length;
            double[,] Ls = new double[scols, scols];
            for (int i = 0; i < s.Length; i++)
            {
                if (System.Math.Abs(s[i]) <= e)
                    Ls[i, i] = 0.0;
                else Ls[i, i] = 1.0 / s[i];
            }

            //(V x L*) x Ut x Y
            double[,] VL = v.Multiply(Ls);

            //(V x L* x Ut) x Y
            int vrows = v.GetLength(0);
            int urows = u.GetLength(0);
            double[,] VLU = new double[vrows, urows];
            for (int i = 0; i < vrows; i++)
            {
                for (int j = 0; j < urows; j++)
                {
                    double sum = 0;
                    for (int k = 0; k < urows; k++)
                        sum += VL[i, k] * u[j, k];
                    VLU[i, j] = sum;
                }
            }

            //(V x L* x Ut x Y)
            return VLU.Multiply(Y);
        }

        /// <summary>
        ///   Solves a linear equation system of the form Ax = b.
        /// </summary>
        /// <param name="value">The b from the equation Ax = b.</param>
        /// <returns>The x from equation Ax = b.</returns>
        public double[] Solve(double[] value)
        {
            // Additionally an important property is that if there does not exists a solution
            // when the matrix A is singular but replacing 1/Li with 0 will provide a solution
            // that minimizes the residue |AX -Y|. SVD finds the least squares best compromise
            // solution of the linear equation system. Interestingly SVD can be also used in an
            // over-determined system where the number of equations exceeds that of the parameters.

            // L is a diagonal matrix with non-negative matrix elements having the same
            // dimension as A, Wi ? 0. The diagonal elements of L are the singular values of matrix A.

            //singularity threshold
            double e = this.Threshold;

            double[] Y = value;

            // Create L*, which is a diagonal matrix with elements
            //    L*i = 1/Li  if Li = e, else 0, 
            // where e is the so-called singularity threshold.

            // In other words, if Li is zero or close to zero (smaller than e),
            // one must replace 1/Li with 0. The value of e depends on the precision
            // of the hardware. This method can be used to solve linear equations
            // systems even if the matrices are singular or close to singular.


            int scols = s.Length;

            double[,] Ls = new double[scols, scols];
            for (int i = 0; i < s.Length; i++)
            {
                if (System.Math.Abs(s[i]) <= e)
                    Ls[i, i] = 0;
                else Ls[i, i] = 1.0 / s[i];
            }

            //(V x L*) x Ut x Y
            double[,] VL = v.Multiply(Ls);

            //(V x L* x Ut) x Y
            int urows = u.GetLength(0);
            int vrows = v.GetLength(0);
            double[,] VLU = new double[vrows, urows];
            for (int i = 0; i < vrows; i++)
            {
                for (int j = 0; j < urows; j++)
                {
                    double sum = 0;
                    for (int k = 0; k < scols; k++)
                        sum += VL[i, k] * u[j, k];
                    VLU[i, j] = sum;
                }
            }

            //(V x L* x Ut x Y)
            return VLU.Multiply(Y);
        }

        /// <summary>
        ///   Computes the (pseudo-)inverse of the matrix given to the Singular value decomposition.
        /// </summary>
        public double[,] Inverse()
        {
            double e = this.Threshold;

            // X = V*S^-1
            int vrows = v.GetLength(0);
            int vcols = v.GetLength(1);
            double[,] X = new double[vrows, s.Length];
            for (int i = 0; i < vrows; i++)
            {
                for (int j = 0; j < vcols; j++)
                {
                    if (System.Math.Abs(s[j]) > e)
                        X[i, j] = v[i, j] / s[j];
                }
            }

            // Y = X*U'
            int urows = u.GetLength(0);
            int ucols = u.GetLength(1);
            double[,] Y = new double[vrows, urows];
            for (int i = 0; i < vrows; i++)
            {
                for (int j = 0; j < urows; j++)
                {
                    double sum = 0;
                    for (int k = 0; k < ucols; k++)
                        sum += X[i, k] * u[j, k];
                    Y[i, j] = sum;
                }
            }

            return Y;
        }
    }
}