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pseudo-inverse rank r
with SVD, notmuch harder forgeneral A (2.121)
save for when we need it
no restrictions on A !
rotational part of Procrustes method
derive these from 2.164(see (2.1)...)
directsum =stacking
what will be the geometricalsignificance of the matrix norms?
moral: tensors can be recast(for computations, not meaning)
derive the 2!