18 #ifndef __invdyn_task_base_hpp__ 19 #define __invdyn_task_base_hpp__ 25 #include <pinocchio/multibody/fwd.hpp> 39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 RobotWrapper & robot);
49 const std::string &
name()
const;
55 virtual int dim()
const = 0;
57 virtual const ConstraintBase &
compute(
const double t,
74 #endif // ifndef __invdyn_task_base_hpp__ virtual const ConstraintBase & getConstraint() const =0
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
virtual int dim() const =0
Return the dimension of the task. should be overloaded in the child class.
RobotWrapper & m_robot
Reference on the robot model.
Definition: task-base.hpp:68
robots::RobotWrapper RobotWrapper
Definition: task-base.hpp:44
virtual const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)=0
TaskBase(const std::string &name, RobotWrapper &robot)
Definition: task-base.cpp:24
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
std::string m_name
Definition: task-base.hpp:65
Definition: constraint-bound.hpp:26
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase ConstraintBase
Definition: task-base.hpp:41
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36