Template Function pinocchio::internal::computeDualConeProjection
Defined in File contact-solver-utils.hpp
Function Documentation
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template<typename Scalar, typename ConstraintAllocator, typename VectorLikeIn, typename VectorLikeOut>
void pinocchio::internal::computeDualConeProjection(const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator> &cones, const Eigen::DenseBase<VectorLikeIn> &x, const Eigen::DenseBase<VectorLikeOut> &x_proj_) Project a vector x on the dual of the cones contained in the vector of cones.