.. _exhale_function_cholesky_8hpp_1a55528b3d71ccd495bde2536d0d67b6a7:

Template Function pinocchio::cholesky::Utiv
===========================================

- Defined in :ref:`file_include_pinocchio_algorithm_cholesky.hpp`


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


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