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#' Finding null space of linear operator
#'
#' Finds the null space of a linear operator A in \eqn{R^{n \times m}}{R^(n by m)}.
#' The null space is given as a matrix, where the columns form an orthonormal basis
#' for the nullspace. This function emulates the null function in matlab, it
#' works exactly the same, but the basis vectors may be different, i.e. rotated.
#'
#' @param A m by n matrix
#' @return \code{nullSp} returns a matrix whose columns span the nullspace of A.
#' @seealso Alternative \code{\link[MASS]{Null}} function in MASS package.
#' @details
#' This function is used by other functions and should only be called explicitly for
#' debugging purposes.
#' @keywords internal
nullSp <- function(A){
m <- dim(A)[1]
n <- dim(A)[2]
val <- svd(A, nv = n)
V <- val$v
S <- val$d
if(m > 1){
s <- S
} else if(m == 1){
s <- S[1]
} else{
s <- 0
}
# This is the matlab code for the line below
# here we hardcode that we use double precision
#tol = max(m,n) * max(s) * eps(class(A));
tol <- max(m,n)*max(s)*.Machine$double.eps
r <- sum(s > tol)
# Return empty matrix if nothing in nullspace
if(r+1>n){
N <- matrix(0,dim(V)[1],0)
} else{
N <- V[,(r+1):n, drop = FALSE] # The null space
}
return(N)
}
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