qpOASES-3.0beta/include/qpOASES/ConstraintProduct.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_CONSTRAINT_PRODUCT_HPP
#define QPOASES_CONSTRAINT_PRODUCT_HPP


BEGIN_NAMESPACE_QPOASES


class ConstraintProduct
{
        public:
                ConstraintProduct( ) {};

                ConstraintProduct(      const ConstraintProduct &toCopy 
                                                        ) {};

                virtual ~ConstraintProduct( ) {};
                
                ConstraintProduct &operator=(   const ConstraintProduct &toCopy 
                                                                                )
                {
                        return *this;
                }

                virtual int operator() (        int constrIndex,                        
                                                                        const real_t* const x,          
                                                                        real_t* const constrValue       
                                                                        ) const = 0;
};

END_NAMESPACE_QPOASES


#endif  /* QPOASES_CONSTRAINT_PRODUCT_HPP */