task_space_3d_ref_base.hpp

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#ifndef ROBOTOC_TASK_SPACE_3D_REF_BASE_HPP_
#define ROBOTOC_TASK_SPACE_3D_REF_BASE_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/ocp/grid_info.hpp"
 
 
namespace robotoc {
 
class TaskSpace3DRefBase {
public:
  TaskSpace3DRefBase() {}
 
  virtual ~TaskSpace3DRefBase() {}
 
  TaskSpace3DRefBase(const TaskSpace3DRefBase&) = default;
 
  TaskSpace3DRefBase& operator=(const TaskSpace3DRefBase&) = default;
 
  TaskSpace3DRefBase(TaskSpace3DRefBase&&) noexcept = default;
 
  TaskSpace3DRefBase& operator=(TaskSpace3DRefBase&&) noexcept = default;
 
  virtual void updateRef(const GridInfo& grid_info, 
                         Eigen::VectorXd& ref_3d) const = 0;
 
  virtual bool isActive(const GridInfo& grid_info) const = 0;
};
 
} // namespace robotoc
 
 
#endif // ROBOTOC_TASK_SPACE_3D_REF_BASE_HPP_