Definition of The Cholesky Decomposition:
Given a symmetric positive definite square matrix X, the Cholesky
decomposition of X is the factorization X=U'U, where U is the square root
matrix of X, and satisfies:
(1) U'U = X
Once U has been computed, one can calculate the inverse of X more easily,
because X-1 = U-1(U')-1, and the inverses of
U and U' are easier to compute.
(Econterms)
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(2) U is upper triangular (that is, it has all zeros below the diagonal)
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