task-actuation.hpp
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1 //
2 // Copyright (c) 2017 CNRS
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
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16 //
17 
18 #ifndef __invdyn_task_actuation_hpp__
19 #define __invdyn_task_actuation_hpp__
20 
21 #include <tsid/tasks/task-base.hpp>
22 
23 namespace tsid
24 {
25  namespace tasks
26  {
27  class TaskActuation : public TaskBase
28  {
29  public:
30 
31  TaskActuation(const std::string & name,
32  RobotWrapper & robot);
33  };
34  }
35 }
36 
37 #endif // ifndef __invdyn_task_actuation_hpp__
Base template of a Task. Each class is defined according to a constant model of a robot...
Definition: task-base.hpp:36
const std::string & name() const
Definition: task-base.cpp:30
Definition: task-actuation.hpp:27
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: constraint-bound.hpp:26
TaskActuation(const std::string &name, RobotWrapper &robot)
Definition: task-actuation.cpp:26