math_operations.h

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#ifndef EXOTICA_AICO_SOLVER_MATH_OPERATIONS_H_
#define EXOTICA_AICO_SOLVER_MATH_OPERATIONS_H_

#include <Eigen/Cholesky>
#include <Eigen/Dense>

namespace exotica
{
template <typename T1, typename T2>
static inline void inverseSymPosDef(T1& Ainv, const T2& A)
{
    Ainv = A.llt().solve(Eigen::MatrixXd::Identity(A.rows(), A.cols()));
}

template <typename T1, typename T2, typename T3>
static inline void AinvBSymPosDef(T1& x, const T2& A, const T3& b)
{
    x = A.llt().solve(b);
}
}  // namespace exotica

#endif  // EXOTICA_AICO_SOLVER_MATH_OPERATIONS_H_