Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual
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ManifoldFR
reviewed
Oct 18, 2024
ManifoldFR
reviewed
Oct 18, 2024
ManifoldFR
changed the title
FrictionConeResidual to CentroidalFrictionConeResidual
ManifoldFR
approved these changes
Oct 18, 2024
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good job @edantec
This is an API-breaking change so I just renamed the PR itself, so it shows up like this on the release page for v0.10.0
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CI is broken in Debug. My fault 100% |
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This PR will add a new cost and rename another, so that the user can differentiate between friction cone and wrench cone in multibody and centroidal settings.