.. _exhale_function_cholesky_8hpp_1acfaa6a35556fe4b225cf8b3ca8559a5e:

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

- Defined in :ref:`file_include_pinocchio_algorithm_cholesky.hpp`


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


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