.. _exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort_1_1ComputeGTauGradient:

Class MinimumEffort::ComputeGTauGradient
========================================

- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h`


Nested Relationships
--------------------

This class is a nested type of :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort`.


Inheritance Relationships
-------------------------

Base Type
*********

- ``public CostFunction`` (:ref:`exhale_class_classCostFunction`)


Class Documentation
-------------------


.. doxygenclass:: OpenSoT::tasks::velocity::MinimumEffort::ComputeGTauGradient
   :project: OpenSoT
   :members:
   :protected-members:
   :undoc-members: