where T is the (3n -6) × (3n -6) diagonal matrix of non-zero singular values, N is the m × (3n -6) orthonormal matrix whose columns span the nonredundant space of q, R is the m × (m -3n + 6) orthonormal matrix whose columns span the redundant space of q, and Z and Z are the 3n × (3n -6) and 3n × 6 matrices whose columns are the right singular vectors corresponding to N and R respectively. We treat singular values of J below 10 -6 as zero and assign the corresponding singular vectors to the redundant space.