Template Function pinocchio::cholesky::solve
Defined in File cholesky.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Mat>
Mat &pinocchio::cholesky::solve(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<Mat> &y) Return the solution
of using the Cholesky decomposition stored in data given the entry . Act like solveInPlace of Eigen::LLT.Perform the sparse inversion
using the Cholesky decomposition stored in data and acting in place.Note
This algorithm is useful to compute the forward dynamics, retriving the joint acceleration
from the current joint torque- Template Parameters:
JointCollection – Collection of Joint types.
JointCollection – Collection of Joint types.
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
y – [inout] The input matrix to inverse which also contains the result
of the inversion.model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
v – [inout] The input matrix to multiply with data.M^{-1} and also storing the result.
- Returns:
A reference to the result of
stored in v.