.. _exhale_function_cholesky_8hpp_1a428d7c7f6901cfb378c775e9ce215b63:

Template Function pinocchio::cholesky::UDUtv
============================================

- Defined in :ref:`file_include_pinocchio_algorithm_cholesky.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::cholesky::UDUtv(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<Mat>&)
   :project: pinocchio Doxygen Project