18 #ifndef __invdyn_contact_base_hpp__ 19 #define __invdyn_contact_base_hpp__ 37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
50 RobotWrapper & robot);
52 const std::string &
name()
const;
57 virtual unsigned int n_motion()
const = 0;
60 virtual unsigned int n_force()
const = 0;
70 const Data & data) = 0;
77 const Data & data) = 0;
100 #endif // ifndef __invdyn_contact_base_hpp__ Definition: constraint-equality.hpp:28
Eigen::Matrix< Scalar, 3, Eigen::Dynamic > Matrix3x
Definition: fwd.hpp:44
Definition: task-se3-equality.hpp:33
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: constraint-inequality.hpp:28
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
Definition: constraint-bound.hpp:26
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36