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) 2007-2017 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_t operator() (  int_t constrIndex,          
                                    const real_t* const x,      
                                    real_t* const constrValue   
                                    ) const = 0;
};

END_NAMESPACE_QPOASES


#endif  /* QPOASES_CONSTRAINT_PRODUCT_HPP */