Assemble the posterior precision M = blkdiag(K_jโปยน) + AแตRโปยนA (row-major,
n_state ร n_state with n_state = n_latents ยท n_bins) and the GP prior
log-determinant log|K|.
Cholesky factor of a symmetric positive-definite row-major matrix (LAPACK-grade
dense linear algebra via nalgebra). GPFA only factors SPD matrices โ the GP
prior, the posterior precision and the second-moment matrix โ so the
decomposition is the numerically stable, ~2x cheaper choice over a general LU.