Template Function pinocchio::cholesky::UDUtv

• Defined in File cholesky.hpp

Function Documentation

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

Performs the multiplication \( M v \) by using the Cholesky decomposition of M stored in data.

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.

• m – [inout] The input matrix where the result of \( Mv \) is stored.

Returns:

A reference of the result of \( Mv \).