qpOASES 3.2.1
An Implementation of the Online Active Set Strategy
Flipper.hpp
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1/*
2 * This file is part of qpOASES.
3 *
4 * qpOASES -- An Implementation of the Online Active Set Strategy.
5 * Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
6 * Christian Kirches et al. All rights reserved.
7 *
8 * qpOASES is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU Lesser General Public
10 * License as published by the Free Software Foundation; either
11 * version 2.1 of the License, or (at your option) any later version.
12 *
13 * qpOASES is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16 * See the GNU Lesser General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public
19 * License along with qpOASES; if not, write to the Free Software
20 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21 *
22 */
23
24
36#ifndef QPOASES_FLIPPER_HPP
37#define QPOASES_FLIPPER_HPP
38
39
40#include <qpOASES/Bounds.hpp>
42
43
45
46
58{
59 friend class QProblemB;
60 friend class QProblem;
61
62 /*
63 * PUBLIC MEMBER FUNCTIONS
64 */
65 public:
67 Flipper( );
68
70 Flipper( uint_t _nV,
71 uint_t _nC = 0
72 );
73
75 Flipper( const Flipper& rhs
76 );
77
79 ~Flipper( );
80
82 Flipper& operator=( const Flipper& rhs
83 );
84
85
89 returnValue init( uint_t _nV = 0,
90 uint_t _nC = 0
91 );
92
93
96 returnValue get( Bounds* const _bounds,
97 real_t* const R,
98 Constraints* const _constraints = 0,
99 real_t* const _Q = 0,
100 real_t* const _T = 0
101 ) const;
102
105 returnValue set( const Bounds* const _bounds,
106 const real_t* const _R,
107 const Constraints* const _constraints = 0,
108 const real_t* const _Q = 0,
109 const real_t* const _T = 0
110 );
111
112
113 /*
114 * PROTECTED MEMBER FUNCTIONS
115 */
116 protected:
120
123 returnValue copy( const Flipper& rhs
124 );
125
128 uint_t getDimT( ) const;
129
130
131 /*
132 * PROTECTED MEMBER VARIABLES
133 */
134 protected:
135 uint_t nV;
136 uint_t nC;
144};
145
146
148
149
150#endif /* QPOASES_FLIPPER_HPP */
151
152
153/*
154 * end of file
155 */
returnValue
Defines all symbols for global return values.
Definition: MessageHandling.hpp:65
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition: Types.hpp:171
#define END_NAMESPACE_QPOASES
Definition: Types.hpp:110
#define BEGIN_NAMESPACE_QPOASES
Definition: Types.hpp:107
Manages working sets of bounds (i.e. box constraints).
Definition: Bounds.hpp:57
Manages working sets of constraints.
Definition: Constraints.hpp:57
Auxiliary class for storing a copy of the current matrix factorisations.
Definition: Flipper.hpp:58
returnValue clear()
Definition: Flipper.cpp:211
Constraints constraints
Definition: Flipper.hpp:139
Flipper()
Definition: Flipper.cpp:50
returnValue copy(const Flipper &rhs)
Definition: Flipper.cpp:238
returnValue set(const Bounds *const _bounds, const real_t *const _R, const Constraints *const _constraints=0, const real_t *const _Q=0, const real_t *const _T=0)
Definition: Flipper.cpp:162
real_t * T
Definition: Flipper.hpp:143
uint_t nC
Definition: Flipper.hpp:136
real_t * R
Definition: Flipper.hpp:141
uint_t nV
Definition: Flipper.hpp:135
returnValue get(Bounds *const _bounds, real_t *const R, Constraints *const _constraints=0, real_t *const _Q=0, real_t *const _T=0) const
Definition: Flipper.cpp:133
returnValue init(uint_t _nV=0, uint_t _nC=0)
Definition: Flipper.cpp:116
uint_t getDimT() const
Definition: Flipper.cpp:245
Flipper & operator=(const Flipper &rhs)
Definition: Flipper.cpp:100
~Flipper()
Definition: Flipper.cpp:91
Bounds bounds
Definition: Flipper.hpp:138
real_t * Q
Definition: Flipper.hpp:142
Implements the online active set strategy for box-constrained QPs.
Definition: QProblemB.hpp:64
Implements the online active set strategy for QPs with general constraints.
Definition: QProblem.hpp:62