.. _exhale_function_cholesky_8hpp_1a8f9501ac4d23f335b854fd60c074273f:

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