Template Function pinocchio::internal::computeDualConeProjection

Function Documentation

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.