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Fix mu_update for PrimalLDLT backend #349

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merged 6 commits into from
Aug 21, 2024

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fabinsch
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as pointed out in #348, there is currently a mismatch when calling the rank_r_update.

I discussed it with @Bambade, and we propose this PR to fix it, and correct another typo that was found while analyzing the function.

We also add the example from #348 as a new unittest for the PrimalLDLT backend, where we trigger a mu_update.

@fabinsch fabinsch force-pushed the topic/fix-ldlt branch 2 times, most recently from 637a700 to 8105f4a Compare August 20, 2024 15:21
jcarpent
jcarpent previously approved these changes Aug 21, 2024
@jcarpent jcarpent merged commit 1da897c into Simple-Robotics:devel Aug 21, 2024
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2 participants