text: // This code is in the public domain -- Ignacio Casta@o <castano@gmail.com>
  
  #pragma once
  #ifndef NV_MATH_FITTING_H
  #define NV_MATH_FITTING_H
  
  #include "Vector.h"
  #include "Plane.h"
  
  namespace nv
  {
      namespace Fit
      {
          Vector3 computeCentroid(int n, const Vector3 * points);
          Vector3 computeCentroid(int n, const Vector3 * points, const float * weights, const Vector3 & metric);
  
          Vector4 computeCentroid(int n, const Vector4 * points);
          Vector4 computeCentroid(int n, const Vector4 * points, const float * weights, const Vector4 & metric);
  
          Vector3 computeCovariance(int n, const Vector3 * points, float * covariance);
          Vector3 computeCovariance(int n, const Vector3 * points, const float * weights, const Vector3 & metric, float * covariance);
  
          Vector4 computeCovariance(int n, const Vector4 * points, float * covariance);
          Vector4 computeCovariance(int n, const Vector4 * points, const float * weights, const Vector4 & metric, float * covariance);
  
          Vector3 computePrincipalComponent_PowerMethod(int n, const Vector3 * points);
          Vector3 computePrincipalComponent_PowerMethod(int n, const Vector3 * points, const float * weights, const Vector3 & metric);
  
          Vector3 computePrincipalComponent_EigenSolver(int n, const Vector3 * points);
          Vector3 computePrincipalComponent_EigenSolver(int n, const Vector3 * points, const float * weights, const Vector3 & metric);
  
  		Vector4 computePrincipalComponent_EigenSolver(int n, const Vector4 * points);
          Vector4 computePrincipalComponent_EigenSolver(int n, const Vector4 * points, const float * weights, const Vector4 & metric);
  
          Vector3 computePrincipalComponent_SVD(int n, const Vector3 * points);
          Vector4 computePrincipalComponent_SVD(int n, const Vector4 * points);
  
          Plane bestPlane(int n, const Vector3 * points);
          bool isPlanar(int n, const Vector3 * points, float epsilon = NV_EPSILON);
  
          bool eigenSolveSymmetric3(const float matrix[6], float eigenValues[3], Vector3 eigenVectors[3]);
          bool eigenSolveSymmetric4(const float matrix[10], float eigenValues[4], Vector4 eigenVectors[4]);
  
          // Returns number of clusters [1-4].
          int compute4Means(int n, const Vector3 * points, const float * weights, const Vector3 & metric, Vector3 * cluster);
      }
  
  } // nv namespace
  
  #endif // NV_MATH_FITTING_H
  