Base class of reference task space position. More...

#include <task_space_3d_ref_base.hpp>

Inheritance diagram for robotoc::TaskSpace3DRefBase:

[legend]

Public Member Functions
	TaskSpace3DRefBase ()
	Default constructor. More...

virtual	~TaskSpace3DRefBase ()
	Destructor. More...

	TaskSpace3DRefBase (const TaskSpace3DRefBase &)=default
	Default copy constructor. More...

TaskSpace3DRefBase &	operator= (const TaskSpace3DRefBase &)=default
	Default copy operator. More...

	TaskSpace3DRefBase (TaskSpace3DRefBase &&) noexcept=default
	Default move constructor. More...

TaskSpace3DRefBase &	operator= (TaskSpace3DRefBase &&) noexcept=default
	Default move assign operator. More...

virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &ref_3d) const =0
	Computes the reference task-space position. 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 reference task space position.

Constructor & Destructor Documentation

◆ TaskSpace3DRefBase() [1/3]

robotoc::TaskSpace3DRefBase::TaskSpace3DRefBase ( )

inline

Default constructor.

◆ ~TaskSpace3DRefBase()

virtual robotoc::TaskSpace3DRefBase::~TaskSpace3DRefBase ( )

inlinevirtual

Destructor.

◆ TaskSpace3DRefBase() [2/3]

robotoc::TaskSpace3DRefBase::TaskSpace3DRefBase ( const TaskSpace3DRefBase & )

default

Default copy constructor.

◆ TaskSpace3DRefBase() [3/3]

robotoc::TaskSpace3DRefBase::TaskSpace3DRefBase ( TaskSpace3DRefBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ isActive()

virtual bool robotoc::TaskSpace3DRefBase::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::DiscreteTimeSwingFootRef, robotoc::PeriodicSwingFootRef, and robotoc::MPCPeriodicSwingFootRef.

◆ operator=() [1/2]

TaskSpace3DRefBase & robotoc::TaskSpace3DRefBase::operator= ( const TaskSpace3DRefBase & )

default

Default copy operator.

◆ operator=() [2/2]

TaskSpace3DRefBase & robotoc::TaskSpace3DRefBase::operator= ( TaskSpace3DRefBase && )