58   Scalar rho, rho_1, alpha;  in pseudo_inverse()  local
67     rho = 1.0;  in pseudo_inverse()
72     while (rho >= 1e-38)  in pseudo_inverse()
77       alpha = rho / p.dot(q);  in pseudo_inverse()
80       rho_1 = rho;  in pseudo_inverse()
81       rho = r.dot(r);  in pseudo_inverse()
82       p = (rho/rho_1) * p + r;  in pseudo_inverse()
114   Scalar rho = 1.0, rho_1, lambda, gamma;  in constrained_cg()  local
157     rho_1 = rho;  in constrained_cg()
158     rho = r.dot(z);  in constrained_cg()
160     if (iter.finished(rho)) break;  in constrained_cg()
164     else gamma = (std::max)(0.0, (rho - old_z.dot(z)) / rho_1);  in constrained_cg()
170     lambda = rho / q.dot(p);  in constrained_cg()