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Computes \(\mathrm{trace}(X^T P^{-1} X)\). If P is a constant matrix, uses a QuadForm shortcut for efficiency.
matrix_frac(X, P)
An expression representing \(\mathrm{trace}(X^T P^{-1} X)\)
A matrix expression (n by m)
A square matrix expression (n by n), must be PSD