Change linear friction cone to ice cream cone #238
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include/aligator/modelling/multibody/multibody-friction-cone.hpp
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include/aligator/modelling/multibody/multibody-friction-cone.hxx
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| @@ -51,7 +51,7 @@ void exposeContactForce() { | |||
| .def(bp::init<int, PinModel, const context::MatrixXs &, | |||
| const RigidConstraintModelVector &, | |||
| const pinocchio::ProximalSettingsTpl<Scalar> &, | |||
| const context::Vector6s &, const std::string &>(bp::args( | |||
| const context::VectorXs &, const std::string &>(bp::args( | |||
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I don't understand this change
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In this context, the reference force can be a 3D or 6D vector, depending on the type of contact. The bindings were not covering the 3D case.
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Okay, so in this case, since at most it can be of dimension six, you could use the Eigen::Matrix template with maximum number of rows at compile time set to 6, in both the binding code and the actual C++ class:
using Vector3or6 = Eigen::Matrix<Scalar, -1, 1, 6>;The fourth template parameter is known in Eigen as MaxRowsAtCompileTime.
This allows us to avoid an unnecessary heap allocation in this case.
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