@staticmethod
    def incompleteCholesky2(X, k):
        ell = X.shape[0]
        A = numpy.zeros((ell, k))
        Xj = X
        Xaj =  numpy.zeros((ell, k))

        for j in range(k):
            d = numpy.diag(Xj)
            ind = numpy.argmax(d)

            A[ind, j] = 1/numpy.sqrt(Xj[ind, ind])
            Xaj[:, j] = Xj.dot(A[:, j])

            Xj = Xj - numpy.outer(Xaj[:, j], Xaj[:, j])/numpy.dot(A[:, j].T, Xaj[:, j])

        return Xaj.T
Returns a boolean, True if the shape fully fits into the axis aligned
dataset/ETHPy150Open charanpald/APGL/apgl/util/Util.py/Util.incompleteCholesky2--crossover with--dataset/ETHPy150Open los-cocos/cocos/cocos/collision_model.py/Cshape.fits_in_box