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18 #ifndef __invdyn_task_contact_force_hpp__
19 #define __invdyn_task_contact_force_hpp__
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 const std::vector<std::shared_ptr<ContactLevel> > *contacts) = 0;
58 #endif // ifndef __invdyn_task_contact_force_hpp__
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:36
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: constraint-bound.hpp:26
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
const std::string & name() const
Definition: task-base.cpp:30
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42