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__
Definition: solver-HQP-output.hpp:32
Base template of a Task. Each class is defined according to a constant model of a robot...
Definition: task-base.hpp:36
#define TSID_DEPRECATED
Definition: deprecated.hh:37
Definition: task-motion.hpp:28
Definition: task-actuation.hpp:27
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
Definition: constraint-bound.hpp:26