Template Function pinocchio::internal::computeConicComplementarity

Function Documentation

template<typename Scalar, typename ConstraintAllocator, typename VectorLikeVelocity, typename VectorLikeForce>
Scalar pinocchio::internal::computeConicComplementarity(const std::vector<CoulombFrictionConeTpl<Scalar>, ConstraintAllocator> &cones, const Eigen::DenseBase<VectorLikeVelocity> &velocities, const Eigen::DenseBase<VectorLikeForce> &forces)