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18 #ifndef __invdyn_task_base_hpp__
19 #define __invdyn_task_base_hpp__
25 #include <pinocchio/multibody/fwd.hpp>
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 const std::string &
name()
const;
55 virtual int dim()
const = 0;
74 #endif // ifndef __invdyn_task_base_hpp__
virtual int dim() const =0
Return the dimension of the task. \info should be overloaded in the child class.
virtual const ConstraintBase & getConstraint() const =0
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:36
TaskBase(const std::string &name, RobotWrapper &robot)
Definition: task-base.cpp:24
virtual const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)=0
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase ConstraintBase
Definition: task-base.hpp:41
robots::RobotWrapper RobotWrapper
Definition: task-base.hpp:44
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: constraint-bound.hpp:26
std::string m_name
Definition: task-base.hpp:65
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
const std::string & name() const
Definition: task-base.cpp:30
RobotWrapper & m_robot
Reference on the robot model.
Definition: task-base.hpp:68
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42