Template Function pinocchio::internal::computeComplementarityShift

Function Documentation

template<typename Scalar, typename ConstraintAllocator, typename VectorLikeIn, typename VectorLikeOut>
void pinocchio::internal::computeComplementarityShift(const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator> &cones, const Eigen::DenseBase<VectorLikeIn> &velocities, const Eigen::DenseBase<VectorLikeOut> &shift_)