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

• Defined in File cholesky.hpp

Function Documentation

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

Computes the inverse of the joint space inertia matrix M from its Cholesky factorization.

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.

• Minv – [out] The output matrix where the result is stored.

Returns:

A reference to the result.