Base class of reference task space placement (position and orientation). More...

#include <task_space_6d_ref_base.hpp>

Public Member Functions
	TaskSpace6DRefBase ()
	Default constructor. More...

virtual	~TaskSpace6DRefBase ()
	Destructor. More...

	TaskSpace6DRefBase (const TaskSpace6DRefBase &)=default
	Default copy constructor. More...

TaskSpace6DRefBase &	operator= (const TaskSpace6DRefBase &)=default
	Default copy operator. More...

	TaskSpace6DRefBase (TaskSpace6DRefBase &&) noexcept=default
	Default move constructor. More...

TaskSpace6DRefBase &	operator= (TaskSpace6DRefBase &&) noexcept=default
	Default move assign operator. More...

virtual void	updateRef (const GridInfo &grid_info, SE3 &ref_6d) const =0
	Computes the reference task-space placement. 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 placement (position and orientation).

Constructor & Destructor Documentation

◆ TaskSpace6DRefBase() [1/3]

robotoc::TaskSpace6DRefBase::TaskSpace6DRefBase ( )

inline

Default constructor.

◆ ~TaskSpace6DRefBase()

virtual robotoc::TaskSpace6DRefBase::~TaskSpace6DRefBase ( )

inlinevirtual

Destructor.

◆ TaskSpace6DRefBase() [2/3]

robotoc::TaskSpace6DRefBase::TaskSpace6DRefBase ( const TaskSpace6DRefBase & )

default

Default copy constructor.

◆ TaskSpace6DRefBase() [3/3]

robotoc::TaskSpace6DRefBase::TaskSpace6DRefBase ( TaskSpace6DRefBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ isActive()

virtual bool robotoc::TaskSpace6DRefBase::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.

◆ operator=() [1/2]

TaskSpace6DRefBase & robotoc::TaskSpace6DRefBase::operator= ( const TaskSpace6DRefBase & )

default

Default copy operator.

◆ operator=() [2/2]

TaskSpace6DRefBase & robotoc::TaskSpace6DRefBase::operator= ( TaskSpace6DRefBase && )