Go to the documentation of this file.
18 #ifndef __invdyn_task_contact_force_equality_hpp__
19 #define __invdyn_task_contact_force_equality_hpp__
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 const std::vector<std::shared_ptr<ContactLevel> > *contacts);
103 #endif // ifndef __invdyn_task_contact_force_equality_hpp__
Definition: trajectory-base.hpp:35
Definition: constraint-equality.hpp:28
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::Matrix< Scalar, 6, 1 > Vector6
Definition: fwd.hpp:43
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
std::size_t Index
Definition: fwd.hpp:55
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: constraint-bound.hpp:26
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
const std::string & name() const
Definition: task-base.cpp:30
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42