task-contact-force.hpp
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2 // Copyright (c) 2017 CNRS
3 //
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16 //
17 
18 #ifndef __invdyn_task_contact_force_hpp__
19 #define __invdyn_task_contact_force_hpp__
20 
21 #include <tsid/tasks/task-base.hpp>
23 #include <memory>
24 
25 
26 namespace tsid
27 {
28  namespace tasks
29  {
30  class TaskContactForce : public TaskBase
31  {
32  public:
33  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34 
35  TaskContactForce(const std::string & name,
36  RobotWrapper & robot);
37 
43  virtual const ConstraintBase & compute(const double t,
46  Data & data,
47  const std::vector<std::shared_ptr<ContactLevel> > *contacts) = 0;
48 
53  virtual const std::string& getAssociatedContactName() = 0;
54  };
55  }
56 }
57 
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
virtual const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts)=0
const std::string & name() const
Definition: task-base.cpp:30
Definition: task-contact-force.hpp:30
EIGEN_MAKE_ALIGNED_OPERATOR_NEW TaskContactForce(const std::string &name, RobotWrapper &robot)
Definition: task-contact-force.cpp:26
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
virtual const std::string & getAssociatedContactName()=0
Definition: constraint-bound.hpp:26
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36