Method g

include/simple/core/constraints-problem.hpp:427–430

\brief Getter for the `g` term (i.e. the free velocity of constraints + corrective terms).

    /// \brief Getter for the `g` term (i.e. the free velocity of constraints + corrective terms).
    Eigen::VectorBlock<VectorXs> g()
    {
      return this->m_g.head(this->constraints_problem_size());
    }

    /// \brief const getter for the `g` term (i.e. the free velocity of constraint + corrective terms).
    Eigen::VectorBlock<const VectorXs> g() const