18 #ifndef __invdyn_contact_base_hpp__
19 #define __invdyn_contact_base_hpp__
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 const std::string &
name()
const;
70 const Data & data) = 0;
77 const Data & data) = 0;
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-equality.hpp:29
Definition: constraint-inequality.hpp:29
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Definition: task-se3-equality.hpp:34
Eigen::Matrix< Scalar, 3, Eigen::Dynamic > Matrix3x
Definition: fwd.hpp:44
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27