void update(double time, ocra::Model &state, void **args)
gOcra Controller based on LQP solver for the ocra framework.
Define the Generalized Hierarchical Controller based on Jacobian transpose (GHCJT) in quasi-static ca...
virtual void doUpdate(double time, ocra::Model &state, void **args)=0
virtual ~gOcraTaskManagerCollectionBase()
virtual void doInit(gocra::GHCJTController &ctrl, ocra::Model &model)=0
void init(gocra::GHCJTController &ctrl, ocra::Model &model)