Base class of the configuration. More...

#include <configuration_space_ref_base.hpp>

Inheritance diagram for robotoc::ConfigurationSpaceRefBase:

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

virtual	~ConfigurationSpaceRefBase ()
	Destructor. More...

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

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

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

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

virtual void	updateRef (const Robot &robot, const GridInfo &grid_info, Eigen::VectorXd &q_ref) const =0
	Computes the reference configuration. More...

virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not at the specified time. More...

Detailed Description

Base class of the configuration.

Constructor & Destructor Documentation

◆ ConfigurationSpaceRefBase() [1/3]

robotoc::ConfigurationSpaceRefBase::ConfigurationSpaceRefBase ( )

inline

Default constructor.

◆ ~ConfigurationSpaceRefBase()

virtual robotoc::ConfigurationSpaceRefBase::~ConfigurationSpaceRefBase ( )

inlinevirtual

Destructor.

◆ ConfigurationSpaceRefBase() [2/3]

robotoc::ConfigurationSpaceRefBase::ConfigurationSpaceRefBase ( const ConfigurationSpaceRefBase & )

default

Default copy constructor.

◆ ConfigurationSpaceRefBase() [3/3]

robotoc::ConfigurationSpaceRefBase::ConfigurationSpaceRefBase ( ConfigurationSpaceRefBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ isActive()

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

pure virtual

Checks wheather the cost is active or not at the specified time.

Parameters

[in] grid_info Grid info.

Returns: true if the cost is active at time t. false if not.

Implemented in robotoc::MPCPeriodicConfigurationRef.

◆ operator=() [1/2]

ConfigurationSpaceRefBase & robotoc::ConfigurationSpaceRefBase::operator= ( ConfigurationSpaceRefBase && )

defaultnoexcept

Default move assign operator.

◆ operator=() [2/2]

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