In eTaSL the task description in LUA is translated into a data-structure called context. A solver translates this context data-structure into a numerical problem that is then solved by a numerical solver.
The solver is now decoupled from the etasl_rtt component. This component calls a solver for the qpOASES QP-solver.
For more information on stack-of-tasks, see http://stack-of-tasks.github.io/
For more information on eTaSL, see https://people.mech.kuleuven.be/~eaertbel/etasl
GNU LGPL v3
Erwin Aertbeliën, 2016