Template Function pinocchio::cholesky::computeMinv(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)

• Defined in File cholesky.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
const DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs &pinocchio::cholesky::computeMinv(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data)

Computes the inverse of the joint space inertia matrix M from its Cholesky factorization. The results is then directly stored in data.Minv.

Template Parameters:

JointCollection – Collection of Joint types.

Parameters:

• model – [in] The model structure of the rigid body system.

• data – [in] The data structure of the rigid body system.

Returns:

A reference to the result data.Minv.