return 0 in base class

Signed-off-by: kyoichi-sugahara <[email protected]>
kyoichi-sugahara · Nov 2, 2023 · 7eab258 · 7eab258
1 parent 032b777
commit 7eab258
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/...l/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp b/...l/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
@@ -46,9 +46,9 @@ class QPSolverInterface
     const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, const Eigen::VectorXd & lb_a,
     const Eigen::VectorXd & ub_a, Eigen::VectorXd & u) = 0;
 
-  virtual int64_t getTakenIter() const = 0;
-  virtual double getRunTime() const = 0;
-  virtual double getObjVal() const = 0;
+  virtual int64_t getTakenIter() const {return 0;}
+  virtual double getRunTime() const {return 0.0;}
+  virtual double getObjVal() const {return 0.0;}
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
 #endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
diff --git a/...teral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp b/...teral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
@@ -54,9 +54,10 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
     const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, const Eigen::VectorXd & lb_a,
     const Eigen::VectorXd & ub_a, Eigen::VectorXd & u) override;
 
-  int64_t getTakenIter() const override { return 0; }
-  double getRunTime() const override { return 0.0; }
-  double getObjVal() const override { return 0.0; }
+  int64_t getTakenIter() const override { return 1; };
+  // TODO(someone): calculate runtime and object value, otherwise just return 0 by base class
+  // double getRunTime() const override { return 0.0; }
+  // double getObjVal() const override { return 0.0; }
 
 private:
 };