.. _exhale_function_cholesky_8hpp_1ae3ca2fd106a8a7c09fa35a9b187957c8:

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