Self Realisation or Enlightenment means direct knowledge of the Self. It is a realisation that you are impersonal awareness. This realisation takes place in the mind but may not change the unconscious mind completely since unconscious mind is programmed for several years. However, this realisation slowly changes the depth of the mind as one gets to see more clearly how thoughts arise and is therefore able to purify the mind. As mind rewires itself, the general feeling of bliss increases. When the mind steadily abides in Self, it is Self Actualisation. Self Actualisation implies happiness by default.

[Bhagavad Gita 18.54]

The above implies that the Yogi with happy mind abiding in Self neither grieves for anybody nor expects anything.