.. _exhale_function_contact-solver-utils_8hpp_1a309deb09cccc9e06561f6e6382dc23af:

Template Function pinocchio::internal::computeDualConeProjection
================================================================

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


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


.. doxygenfunction:: pinocchio::internal::computeDualConeProjection(const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator>&, const Eigen::DenseBase<VectorLikeIn>&, const Eigen::DenseBase<VectorLikeOut>&)
   :project: pinocchio Doxygen Project