Template Function pinocchio::triangularMatrixMatrixProduct

Function Documentation

template<Eigen::UpLoType info, typename LhsMatrix, typename RhsMatrix, typename ResMat>
inline void pinocchio::triangularMatrixMatrixProduct(const Eigen::MatrixBase<LhsMatrix> &lhs_mat, const Eigen::MatrixBase<RhsMatrix> &rhs_mat, const Eigen::MatrixBase<ResMat> &res)

Evaluate the product of a triangular matrix times a matrix. Eigen showing a bug at this level, in the case of vector entry.

Parameters:
  • lhs_mat[in] Input tringular matrix

  • rhs_mat[in] Right hand side operand in the multplication

  • res[in] Resulting matrix