.. _exhale_function_contact-solver-utils_8hpp_1ac24f706afe6fb23ff2e8c4e38ba9e649:

Template Function pinocchio::internal::computeConicComplementarity
==================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_contact-solver-utils.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::internal::computeConicComplementarity(const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator>&, const Eigen::DenseBase<VectorLikeVelocity>&, const Eigen::DenseBase<VectorLikeForce>&)
   :project: pinocchio Doxygen Project