[eigen] Question regarding an operation

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Hello there,

I want to question the community regarding the following:

Matrix<float, n_y, n_x> C;
Vector2f r = y - C * _x;
Matrix<float, n_y, n_y> S_I = (C * _P * C.transpose() + R).inverse();

I want to compute,

float beta = sqrt(r * (S_I * r));

... but I'm not being able to. Can anyone suggest a solution to this? I tried many combinations, but without luck.

Thanks in advance! Best regards,

Nuno Marques
Tenente Aluno de Transmissões (Eng)

+351 912 090 991
Azambuja | Portugal

As the creation appears, the path is driven in the conscious feeling of madness and happiness, which returns, in multiple ways, to what we achieve in greatness...

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