00001 /* 00002 * This file is part of qpOASES. 00003 * 00004 * qpOASES -- An Implementation of the Online Active Set Strategy. 00005 * Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka, 00006 * Christian Kirches et al. All rights reserved. 00007 * 00008 * qpOASES is free software; you can redistribute it and/or 00009 * modify it under the terms of the GNU Lesser General Public 00010 * License as published by the Free Software Foundation; either 00011 * version 2.1 of the License, or (at your option) any later version. 00012 * 00013 * qpOASES is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00016 * See the GNU Lesser General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU Lesser General Public 00019 * License along with qpOASES; if not, write to the Free Software 00020 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00021 * 00022 */ 00023 00024 00039 #ifndef QPOASES_CONSTRAINT_PRODUCT_HPP 00040 #define QPOASES_CONSTRAINT_PRODUCT_HPP 00041 00042 00043 BEGIN_NAMESPACE_QPOASES 00044 00045 00057 class ConstraintProduct 00058 { 00059 public: 00061 ConstraintProduct( ) {}; 00062 00064 ConstraintProduct( const ConstraintProduct &toCopy 00065 ) {}; 00066 00068 virtual ~ConstraintProduct( ) {}; 00069 00071 ConstraintProduct &operator=( const ConstraintProduct &toCopy 00072 ) 00073 { 00074 return *this; 00075 } 00076 00082 virtual int operator() ( int constrIndex, 00083 const real_t* const x, 00084 real_t* const constrValue 00085 ) const = 0; 00086 }; 00087 00088 END_NAMESPACE_QPOASES 00089 00090 00091 #endif /* QPOASES_CONSTRAINT_PRODUCT_HPP */