Writing a new task

[OsamaMazhar]

I am new to QP. I would like to write a new task as defined in the attached image.

Basically I would like to compare 2D camera projections of the current and target locations in the cost function. I created a human urdf model, imported it using rbdyn, and am using rbdyn for FK of this model. I have already implemented the camera projection part using opencv also. Now I would like to do use QP for Inverse Kinematics of this human model ('s camera projection) comparing it with another set of 2D points. Please help.