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__ pinocchio::Data Data
Definition: task-base.hpp:43
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
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: constraint-bound.hpp:26
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36