Tasks
=====

Base classes
------------

.. autoclass:: mink_warp.Task
   :members:

.. autoclass:: mink_warp.tasks.TargetedTask
   :members:

Kinematic tasks
---------------

.. autoclass:: mink_warp.FrameTask
   :members:

.. autoclass:: mink_warp.RelativeFrameTask
   :members:

.. autoclass:: mink_warp.PostureTask
   :members:

.. autoclass:: mink_warp.EqualityConstraintTask
   :members:

.. autoclass:: mink_warp.ComTask
   :members:

Regularization
--------------

.. autoclass:: mink_warp.DampingTask
   :members:

Soft limits
-----------

.. autoclass:: mink_warp.JointLimitTask
   :members:

.. autoclass:: mink_warp.ConfigurationLimitTask
   :members: