com_ref_base.hpp

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#ifndef ROBOTOC_COM_REF_BASE_HPP_
#define ROBOTOC_COM_REF_BASE_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/ocp/grid_info.hpp"
 
 
namespace robotoc {
 
class CoMRefBase {
public:
  CoMRefBase() {}
 
  virtual ~CoMRefBase() {}
 
  CoMRefBase(const CoMRefBase&) = default;
 
  CoMRefBase& operator=( const CoMRefBase&) = default;
 
  CoMRefBase(CoMRefBase&&) noexcept = default;
 
  CoMRefBase& operator=(CoMRefBase&&) noexcept = default;
 
  virtual void updateRef(const GridInfo& grid_info, 
                         Eigen::VectorXd& com_ref) const = 0;
 
  virtual bool isActive(const GridInfo& grid_info) const = 0;
};
 
} // namespace robotoc
 
#endif // ROBOTOC_COM_REF_BASE_HPP_