18 #ifndef __invdyn_task_contact_force_equality_hpp__ 19 #define __invdyn_task_contact_force_equality_hpp__ 35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 const std::vector<std::shared_ptr<ContactLevel> > *
contacts);
76 const Vector &
Kp()
const;
77 const Vector &
Kd()
const;
78 const Vector &
Ki()
const;
103 #endif // ifndef __invdyn_task_contact_force_equality_hpp__ std::size_t Index
Definition: fwd.hpp:55
Definition: constraint-equality.hpp:28
pinocchio::Data Data
Definition: task-base.hpp:43
const std::string & name() const
Definition: task-base.cpp:30
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
Definition: trajectory-base.hpp:35
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Eigen::Matrix< Scalar, 6, 1 > Vector6
Definition: fwd.hpp:43
Definition: constraint-bound.hpp:26
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36