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task-actuation.hpp
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1//
2// Copyright (c) 2017 CNRS
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __invdyn_task_actuation_hpp__
19#define __invdyn_task_actuation_hpp__
20
22
23namespace tsid
24{
25 namespace tasks
26 {
27 class TaskActuation : public TaskBase
28 {
29 public:
30
31 TaskActuation(const std::string & name,
32 RobotWrapper & robot);
33 };
34 }
35}
36
37#endif // ifndef __invdyn_task_actuation_hpp__
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Definition: task-actuation.hpp:28
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:37
const std::string & name() const
Definition: task-base.cpp:30
Definition: constraint-bound.hpp:27