task_space_6d_ref_base.hpp

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#ifndef ROBOTOC_TASK_SPACE_6D_REF_BASE_HPP_
#define ROBOTOC_TASK_SPACE_6D_REF_BASE_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/ocp/grid_info.hpp"
#include "robotoc/robot/se3.hpp"
 
 
namespace robotoc {
 
class TaskSpace6DRefBase {
public:
  TaskSpace6DRefBase() {}
 
  virtual ~TaskSpace6DRefBase() {}
 
  TaskSpace6DRefBase(const TaskSpace6DRefBase&) = default;
 
  TaskSpace6DRefBase& operator=(const TaskSpace6DRefBase&) = default;
 
  TaskSpace6DRefBase(TaskSpace6DRefBase&&) noexcept = default;
 
  TaskSpace6DRefBase& operator=(TaskSpace6DRefBase&&) noexcept = default;
 
  virtual void updateRef(const GridInfo& grid_info, SE3& ref_6d) const = 0;
 
  virtual bool isActive(const GridInfo& grid_info) const = 0;
};
 
} // namespace robotoc
 
 
#endif // ROBOTOC_TASK_SPACE_6D_REF_BASE_HPP_