Template Function pinocchio::cholesky::Utv
Defined in File cholesky.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Mat>
Mat &pinocchio::cholesky::Utv(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<Mat> &v) Perform the sparse multiplication \( U^{\top}v \) using the Cholesky decomposition stored in data and acting in place.
- 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.tranpose() and also storing the result.
- Returns:
A reference to the result of \( U^{\top}v \) stored in v.