Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.

PiperOrigin-RevId: 474292806 Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
2022-09-14 08:04:40 -07:00
parent ee9eccc992
commit f4e7fa97af
12 changed files with 109 additions and 20 deletions
@@ -25,6 +25,8 @@ General

   - The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
     converges after 2-5 Cholesky factorisations, independent of problem size.
+- Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
+  sides. The function returns :math:`x^TMy`.

 Version 2.2.2 (September 7, 2022)
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