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18 #ifndef __invdyn_inverse_dynamics_formulation_acc_force_hpp__
19 #define __invdyn_inverse_dynamics_formulation_acc_force_hpp__
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
65 unsigned int nVar()
const;
66 unsigned int nEq()
const;
67 unsigned int nIn()
const;
71 unsigned int priorityLevel,
72 double transition_duration=0.0);
76 unsigned int priorityLevel,
77 double transition_duration=0.0);
81 unsigned int priorityLevel,
82 double transition_duration=0.0);
88 double motion_weight=1.0,
unsigned int motion_priority_level=0);
93 double force_regularization_weight,
94 double motion_weight=-1.0);
97 double transition_duration=0.0);
100 double transition_duration=0.0);
116 template<
class TaskLevelPo
inter>
117 void addTask(TaskLevelPointer task,
119 unsigned int priorityLevel);
152 #endif // ifndef __invdyn_inverse_dynamics_formulation_acc_force_hpp__
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:36
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
Definition: solver-HQP-output.hpp:32
Definition: task-motion.hpp:28
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:26
Definition: task-actuation.hpp:27
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40