Base class of reference position of the center of mass (CoM). More...

#include <com_ref_base.hpp>

Inheritance diagram for robotoc::CoMRefBase:

[legend]

Public Member Functions
	CoMRefBase ()
	Default constructor. More...

virtual	~CoMRefBase ()
	Destructor. More...

	CoMRefBase (const CoMRefBase &)=default
	Default copy constructor. More...

CoMRefBase &	operator= (const CoMRefBase &)=default
	Default copy operator. More...

	CoMRefBase (CoMRefBase &&) noexcept=default
	Default move constructor. More...

CoMRefBase &	operator= (CoMRefBase &&) noexcept=default
	Default move assign operator. More...

virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &com_ref) const =0
	Computes the reference CoM position. More...

virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not for the given grid info. More...

Detailed Description

Base class of reference position of the center of mass (CoM).

Constructor & Destructor Documentation

◆ CoMRefBase() [1/3]

robotoc::CoMRefBase::CoMRefBase ( )

inline

Default constructor.

◆ ~CoMRefBase()

virtual robotoc::CoMRefBase::~CoMRefBase ( )

inlinevirtual

Destructor.

◆ CoMRefBase() [2/3]

robotoc::CoMRefBase::CoMRefBase ( const CoMRefBase & )

default

Default copy constructor.

◆ CoMRefBase() [3/3]

robotoc::CoMRefBase::CoMRefBase ( CoMRefBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ isActive()

virtual bool robotoc::CoMRefBase::isActive ( const GridInfo & grid_info ) const

pure virtual

Checks wheather the cost is active or not for the given grid info.

Parameters

[in] grid_info Grid info.

Returns: true if the cost is active for the given grid_info. false if not.

Implemented in robotoc::DiscreteTimeCoMRef, robotoc::PeriodicCoMRef, and robotoc::MPCPeriodicCoMRef.

◆ operator=() [1/2]

CoMRefBase & robotoc::CoMRefBase::operator= ( CoMRefBase && )

defaultnoexcept

Default move assign operator.

◆ operator=() [2/2]

CoMRefBase & robotoc::CoMRefBase::operator= ( const CoMRefBase & )