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

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Enums

enum [anonymous]

Values:

PROJRCONE_DUAL
PROJRCONE_INSIDE
PROJRCONE_BOUNDARY_FRICTION
PROJRCONE_BOUNDARY_ROLLING
PROJRCONE_BOUNDARY_FRICTION_ROLLING

Functions

void display_status_rolling_cone(unsigned int status)
unsigned projectionOnDualRollingCone(double *u, double mu, double mur)

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

Return

the type of projection

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

• [in] mu: the angle of the cone

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

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

Return

the type of projection

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

• [in] mu: the angle of the cone