.. _exhale_function_cholesky_8hpp_1a6eb82b6c9e6f8445e990553b813bc2c0:

Template Function pinocchio::cholesky::Uiv
==========================================

- Defined in :ref:`file_include_pinocchio_algorithm_cholesky.hpp`


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


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