Template Function pinocchio::cholesky::Utv

• Defined in File cholesky.hpp

Function Documentation

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.