# File numerics/src/tools/projectionOnRollingCone.h#

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Enums

enum [anonymous]#

Values:

enumerator PROJRCONE_DUAL#
enumerator PROJRCONE_INSIDE#
enumerator PROJRCONE_BOUNDARY_FRICTION#
enumerator PROJRCONE_BOUNDARY_ROLLING#
enumerator PROJRCONE_BOUNDARY_FRICTION_ROLLING#

Functions

unsigned int projectionOnRollingCone(double *r, double mu, double mur)#

projectionOnCone Projection on the second Order Cone in $$R^3$$, $$K \{ r, r_1 \geq 0, 0 \sqrt(r_2^2+r_3^2) \geq mu r_1 \}$$

Parameters:
• r[inout] the vector to be projected

• mu[in] the angle of the cone

Returns:

the type of projection

unsigned int projectionOn2DRollingCone(double *r, double mu, double mur)#

projectionOnCone Projection on the second Order Cone in $$R^3$$, $$K \{ r, r_1 \geq 0, 0 \sqrt(r_2^2+r_3^2) \geq mu r_1 \}$$

Parameters:
• r[inout] the vector to be projected

• mu[in] the angle of the cone

Returns:

the type of projection

unsigned projectionOnDualRollingCone(double *u, double mu, double mur)#

projectionOnDualCone Projection on the second Order Cone in $$R^3$$, $$K \{ r, r_1 \geq 0, 0 mu \sqrt(u_2^2+u_3^2) \geq u_1 \}$$

Parameters:
• u[inout] the vector to be projected

• mu[in] the angle of the cone

Returns:

the type of projection

void display_status_rolling_cone(unsigned int status)#