Template Function pinocchio::cholesky::Utiv

• Defined in File cholesky.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Mat>
Mat &pinocchio::cholesky::Utiv(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<Mat> &v)

Perform the pivot inversion \( U^{-\top}v \) using the Cholesky decomposition stored in data and acting in place.

Remark

The result is similar to the code data.U.triangularView<Eigen::Upper> ().transpose().solveInPlace(v).

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.

• v – [inout] The input matrix to multiply with data.U^{-\top} and also storing the result.

Returns:

A reference to the result of \( U^{-\top}v \) stored in v.