Geom collider edits - Githubissues

DAIRLab / dairlib

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Geom collider edits #285

Closed mposa closed 2 years ago

mposa commented 2 years ago

Made a few changes from peer review and per use on the ADMM branch. Of note:

Removed any reference to number of friction directions in the constructor. Now, this information is provided in the EvalX methods
Three EvalX methods, one for the standard friction basis, one for a planar problem, and one for a polytope friction cone
Now returns a std::pair<phi, J> rather than J by pointer. This should be simpler to use with pybind

This change is