configuration_space_ref_base.hpp

Go to the documentation of this file.

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